0% Complete
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 Allahverdy
1
Ahmad Fakharian
2
Mohammad Bagher Menhaj
3
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
Sum-Rate Maximization for NOMA-Based Networks with D2D Communications using Matching Theory
َAlireza Gholamrezaee - Hamid Farrokhi - Javad Zeraatkar Moqaddam
Tuning of SMC Parameters for 3-DOF Spatial Parallel Robot Based on Whale Optimization Algorithm
Saeed Firuz Bahr Afzal - Amir Hossein Hassanabadi
کنترل تطبیقی بازوی رباتی دو درجه آزادی با استفاده از یادگیری گروهی مبتنیبر الگوریتم اکثریت وزندار شده تصادفی
علی چراغی - امیرحسین جراره - سعید شمقدری
Bit Error Rate Analysis for a Mixed Underwater OWC-FSO Relaying System in the Presence of Pointing Error
Mahdis Saghaee Jahed - Meysam Ghanbari - Seyed Mohammad Sajad Sadough
Adaptive fault tolerant neural control of heterogeneous second-order multi-agent systems
Mohammad Hadi Rezaei - Ali Abooee
پیشنهاد یک ساختار جدید AC/DC مبتنی بر مبدلهای SEPIC و CUK بهبودیافته برای کاربرد شارژر موتورسیکلتهای الکتریکی
سجاد قابلی ثانی - رحیم عجبی فرشباف - میثم صادقی - محمد خدایاری
An event-triggered distributed consensus information filter for target tracking in sensor networks
Sara Giyani - Behrouz Safarinejadian - Sajad Shamsi
Using Compressive Sensing Technique in Image Sensing
Zahra Sepehri - Seyed Masoud Sayedi - Ehsan Yazdian
Integrating Model-Agnostic Meta-Learning with Advanced Language Embeddings for Few-Shot Intent Classification
Ali Rahimi - Hadi Veisi
Low Complexity Single-Snapshot DOA Estimation Using Adaptive Filtering
Mojtaba Amiri - Mohammadreza Nargesi - Ali Olfat
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 43.6.0
