0% Complete
صفحه اصلی
/
بیست و نهمین کنفرانس مهندسی برق ایران
Optimal Path Planning and Control of a Hexarotor with Mass Uncertainty in the Presence of Dynamic Obstacles and Wind Using Sliding Mode and Adaptive PSO Algorithm
نویسندگان :
Nima Sina
1
Peyman Amiri
2
Mohammad Danesh
3
1- Najaf Abad Branch, Islamic Azad University
2- Isfahan University of Technology
3- Isfahan University of Technology
کلمات کلیدی :
Hexarotor , SMC , Moving Obstacles , Mass uncertainty , Optimal Path Planning , Adaptive PSO
چکیده :
This article presents a sliding mode and feedback linearization controller for position and attitude control of a hexarotor with an uncertain mass in the presence of wind. Also, a constrained adaptive particles swarm optimization (APSO) algorithm is used to find the optimal path and avoiding moving obstacles with time-varying radiuses. Furthermore, the stability proof of the controllers for this case is presented. Finally, the results of simulations are utilized to present the operation of the proposed controllers and path planning algorithm performances.
لیست مقالات
لیست مقالات بایگانی شده
Wide-band Cloaking of Finite Length PEC Cylindrical Objects under Oblique Incidence using Multi-Layer Mantle Cloak
Alireza Moosaei - Mohammad Hasan Neshati
Impedance Evaluation of Plasmonic Nano Dipole Antennas Based on Guided TE Mode
Daniyal Khosh Maram - Hanieh Talati Aghdam - Hamed Abnavi
A boosting based approach to handle imbalanced data
Sahar Hassanzadeh Mostafaei - Jafar Tanha - Negin Samadi - Soodabeh Imanzadeh - Nazila Razzaghi-Asl
On the selection of superspreaders for advertising in science education using a new similarity measure
Sanaz Afsharian - Mohsen Heidari - Heidar Nosratzadeh - Mojgan Khalifeh
Vehicle stability control and trajectory tracking utilizing a type-2 fuzzy controller
Mohammad Mahdavi Mazdeh - Mehdi Pourgholi - Vahid Fakhari
The dimensioning of 5G networks using stochastic geometry
Siminfar Samakoush Galougah - Mahdi Mozaffaripour
Switchable Chain Configurable RO PUF for Enhancing Hardware Security of IoT Devices
Niloufar Sayadi - Mohammad Eshghi
Low-power and Low-Phase Noise Gm-Boosted Differential CMOS LC Voltage Controlled Oscillator using Genetic Algorithm
Mohammad Jafar Hemmati - Sepehr Ebrahimi Mood
مبدل DC/DC افزاینده شبهرزونانسی مبتنی بر ضربکنندهی ولتاژ ترکیبی با کلیدزنی نرم و بهرهی ولتاژ بالا
کوشا چوبداری عمران - رضا بیرانوند
A Novel Tunable LC Filter For Ultra High Frequency Applications
Davoud Razaghpour - Mir Majid Ghasemi - Amir Fathi
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 43.6.0
