文章基本信息

标题：Analysis and Design of a Multi-Channel Time-Varying Sliding Mode Controller and its Application in Unmanned Aerial Vehicles ⁎
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作者：Hamidreza Nemati ; Allahyar Montazeri
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：244-249
DOI：10.1016/j.ifacol.2018.11.549
语种：English
出版社：Elsevier
摘要：AbstractThis study introduces a new multi-channel robust nonlinear control algorithm based on the theory of the time-varying sliding mode control (TVSMC) strategy to stabilize the attitude of an unmanned aerial vehicle (UAV) for nuclear decommissioning applications. Since the UAV is imposed by constant radiations, its parameters are always time-varying and uncertain. This is particularly important in designing sliding mode control because the motion of the control system in the reaching phase can be influenced by environmental disturbances and parameter uncertainties. In this study, a time-varying sliding manifold is proposed to eliminate the reaching phase and to enhance the robust performance. Therefore, a novel type of time-varying sliding surface is introduced based on the initial condition as a slope-varying manifold. Then, a procedure for determining the control parameters is investigated. Furthermore, chattering phenomenon can be avoided using two techniques known as boundary layer and continuous SMC. Finally, to highlight the robust performance of the proposed methods, a quadrotor UAV subject to external disturbances and uncertainties is simulated.
关键词：KeywordsSliding mode controlSlope-varyingTime-varying manifoldsReaching timeLyapunov stabilityBoundary layerContinuous SMCQuadrotor UAV