Fixed-Wing MAV Adaptive PD Control Based on a Modified MIT Rule with Sliding-Mode Control

被引：5

作者：

Espinoza-Fraire, A. T. ^{[1
]}

Chen, YangQuan ^{[2
]}

Dzul, A. ^{[3
]}

Lozano, R. ^{[4
]}

Juarez, R. ^{[5
]}

机构：

[1] Univ Juarez Estado Durango, Fac Ingn Ciencias & Arquitectura, Gomez Palacio, Durango, Mexico

[2] Univ Calif Merced, Sch Engn, Merced, CA 95343 USA

[3] TecNM Inst Tecnol Laguna, Torreon 27000, Coahuila, Mexico

[4] Univ Technol Compiegne, HEUDIASYC Lab, F-60200 Compiegne, Oise, France

[5] Univ Autonoma Cohauila, Fac Contaduria & Adm, Torreon, Coahuila, Mexico

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2018年 / 91卷 / 01期

关键词：

Adaptive control; Adjustment mechanism; Sliding mode control; PD controller;

D O I：

10.1007/s10846-018-0856-y

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents an adaptive PD control law by using a modified MIT rule. The adaptation of the controller gains is based on the adjustment mechanism of the MIT rule by the gradient method with three types of sliding-mode control, i.e., first order sliding-mode control, second order sliding-mode (2SM), and high order sliding-mode control (HOSM). The proposed adjustment mechanism with the PD controller have been designed for the altitude movement, directional and lateral dynamics of a fixed-wing miniture aerial autonomous vehicle (MAV). Several simulations have been carried out in order to analyze the response of the modified MIT rule.

引用

页码：101 / 114

页数：14

共 15 条

[1] Astrom K. J., 1994, Adaptive Control
[2] Brian L.Stevens Frank L. Lewis., 1992, Aircraft Control and Simulation
[3] Cook M.V., 2007, FLIGHT DYNAMICS PRIN, VSecond
[4] Real-time Implementation and Flight Tests using Linear and Nonlinear Controllers for a Fixed-wing Miniature Aerial Vehicle (MAV)
Espinoza-Fraire, Tadeo
Dzul, Alejandro
Cortes-Martinez, Facundo
Giernacki, Wojciech
[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2018, 16 (01) : 392 - 396
[5] Ghaffar A, 2015, ENG TECHNOLOGY INT J, V9, P244
[6] Jain P., 2013, ADV ELECT ELECT ENG, V3, P477
[7] Robust exact differentiation via sliding mode technique
Levant, A
[J]. AUTOMATICA, 1998, 34 (03) : 379 - 384
[8] McLean D., 1990, AUTOMATIC FLIGHT CON
[9] Performance analysis of nonlinear observers applied to the fixed-wing unmanned aerial vehicles flight under decoupled-reduced model
Parada, Ricardo P.
Tadeo Espinoza, A.
Dzul, Alejandro E.
Salas, Francisco G.
[J]. INTERNATIONAL JOURNAL OF MICRO AIR VEHICLES, 2017, 9 (02) : 111 - 123
[10] Slotine J., 1991, APPL NONLINEAR CONTR

← 1 2 →