کنفرانس مهندسی برق ایران

صفحه اصلی / بیست و نهمین کنفرانس مهندسی برق ایران

Back-Stepping Integral Sliding Mode Control with Iterative Learning Control Algorithm for Quadrotor UAV Transporting Cable-Suspended Payload

نویسندگان :

Davood Allahverdy¹ Ahmad Fakharian² Mohammad Bagher Menhaj³

1- دانشگاه ازاد اسلامی واحد علوم تحقیقات 2- دانشگاه ازاد قزوین 3- دانشگاه صنعتی امیرکبیر

کلمات کلیدی :

Back-Stepping Integral Sliding Mode Control, Quadrotor UAV, Iterative Learning Control, Cable-Suspended Payload, Disturbance Rejection

چکیده :

In this study, back-stepping integral sliding mode control (BISMC) with Iterative Learning Control (ILC) algorithm ispresented for nonlinear translational and rotational dynamics of the quadrotor UAV in the presence of a cable-suspended payload and windpower which are considered as disturbances. The proposed controller (BISMC) can track desired trajectories and (ILC) is responsible for inclining the accuracy and robustness of the control strategy. To prove the stability of the closed-loop system, the Lyapunov theorem is used. The simulation results indicate that despite the cable-suspended payload the proposed control strategy has high accuracy,suitable robustness, disturbance rejection, good trajectory tracking,and fast transient responses for the quadrotor UAV.

لیست مقالات

لیست مقالات بایگانی شده

بهینه سازی استفاده از منابع شبکه های نوری با گرومینگ ترافیک در لایه‌ی MPLS

محمدعلی سالک قادری - آرش رضایی - لطف اله بیگی

طراحی بهینه ی آرایه ی تُنُک بی افزونگی با فاصله ی ناصحیح میان عناصر

سید محمد حسینی - محمود کریمی

Switchable Chain Configurable RO PUF for Enhancing Hardware Security of IoT Devices

Niloufar Sayadi - Mohammad Eshghi

High-Resolution Remote Sensing Image Captioning Based on Structured Attention and SAM Network

Yassin Riyazi - Seyyed Mostafa Sadjadi - Abbas Zohrevand - Reshad Hosseini

Transfer learning using deep convolutional neural network for predicting dementia severity

Vahid Asayesh - Mehdi Dehghani - Majid Torabi Nikjeh - Sepideh Akhtari khosrowshahi

Nonvolatile Quaternary Pre-Charged MRAM Cell Design based on Emerging Technologies

Motahareh BahmanAbadi - Abdolah Amirany - Mohammad Hossein Moaiyeri

A Comparison Between PI-PSO, Fuzzy-PID, and Direct Adaptive Fuzzy Controllers for Controlling a Buck-Boost DC-DC Converter with Semi-Quadratic Voltage Gain and Continuous Input Current

Nasim Moradmatak - Seyed Hamid Shahalami

Sparsity Domain Smoothing Based Thresholding Recovery Method for OFDM Sparse Channel Estimation

Mohammad Hossein Bahonar - Reza Ghaderi Zefreh - Rouhollah Amiri

Ultra-broadband and compact beamsplitters using subwavelength-grating-assisted zero gap directional couplers

Kamalodin Arik - Mahmood Akbari - Amin Khavasi

بهبود بازدهی انرژی در اینترنت اشیاء باند باریک با وفقی‌سازی لینک به کمک یادگیری عمیق

سمانه امیریان - محمدعلی سبقتی

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.3.2