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Iranian Journal of Electrical and Electronic Engineering، جلد ۱۵، شماره ۲، صفحات ۲۴۳-۲۵۷
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عنوان انگلیسی Optimal Integral Sliding Mode Controller of a UAV With Considering Actuator Fault
چکیده انگلیسی مقاله In this paper, using the State Dependent Riccati Equation (SDRE) method, we propose a Robust Optimal Integral Sliding Mode Controller (ROISMC) to guarantee an optimal control law for a quadrotor which has become increasingly important by virtue of its high degrees of manoeuvres ability in presence of unknown time-varying external disturbances and actuator fault. The robustness of the controller is ensured by an Integral Sliding Mode Controller (ISMC). Subsequently, based on Luenberger linear state estimator, the control algorithm is reformed and the actuator's faults are detected. Moreover, design of the controller is based on Lyapunov method which can provide the stability of all system states during the tracking of the desired trajectory. The stability of suggested algorithm is verified via the execution of sudden maneuvers subjected to forcible wind disturbance and actuator faults while performing accurate attitude and position tracking by running an extensive numerical simulation. It is comprehended that the proposed optimal robust method can achieve much better tracking capability compared with conventional sliding mode controller.
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نویسندگان مقاله | R. Babaie
Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran.


| A. F. Ehyaei
Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran.
نشانی اینترنتی http://ijeee.iust.ac.ir/browse.php?a_code=A-10-2601-1&slc_lang=en&sid=1
فایل مقاله اشکال در دسترسی به فایل - ./files/site1/rds_journals/446/article-446-1395219.pdf
کد مقاله (doi)
زبان مقاله منتشر شده en
موضوعات مقاله منتشر شده 3-Nonlinear Control Systems
نوع مقاله منتشر شده Research Paper
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