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

Design Comparison of BLDC and SR Motor Drives for Range Hood Applications

Aghil Ghaheri - Reza Naghash - Akbar Mohammadi Ajamloo - Ebrahim Afjei

Small Target Detection Using an Enhanced Optimization Based Filter and Trajectory Tracking Via Pattern Matching Algorithm

Seyedeh Mahsa Zakipour Bahambari - Saeed Khankalantary

مکان یابی اهداف در محیط مختلط دید مستقیم و غیر مستقیم مبتنی بر اندازه گیری های RSS و TOA با مدل احتمالاتی

محمدرضا شمسیان - فریدون بهنیا

Shielding factor enhancement method for Bi-stage active shield in SQUID-based Magnetocardiography system

Zeynab Alipour - Fatemeh Esmaili - Faezeh Shanehsazzadeh - Mehdi Fardmanesh

توسعه نرم‌افزار تخمین عملکرد خطوط انتقال در برابر پدیده صاعقه

سعید شیرمحمدی - رضا شریعتی نسب - کاظم علیشاهی - سامان قهقه زاده

Design and implementation of a light box to measure the dimensions of objects

Mohammad Imani - Amir Mousavinia - Behruz Nasihatkon

Smart EV Charging in Residential Power Grids Considering Users’ Preferences

Mahya Shahshahani - Ali Moradi Amani - Mahdi Jalili

Improved Spectral Efficiency of RIS-aided 6G Communication using Deep Learning

Zahra Zahedi - Mehrdad Ardebilipur - Fatemeh Dehrouye

LSTM and Markov-Based Mobility Prediction for Multi-access Edge Computing

Hadi Ghavaminejad - Nasser Yazdani - Golboo Rashidi

High Step up DC/DC Converter with Low Input Current Ripple and Low Voltage Stress on Semiconductors

Saed Mahmoud Alilou - Mohammad Maalandish - Soheil Nouri - Seyed Hossein Hosseini

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.5.3