2 Artículos

Sliding Mode Controller with Disturbance Observer for Quadcopters; Experiments with Dynamic Disturbances and in Turbulent Indoor Space

Acceso

en línea

Yutao Jing, Adam Mirza, Rifat Sipahi and Jose Martinez-Lorenzo

In this study, a sliding mode surface controller (SMC) designed for a quadcopter is experimentally tested. The SMC was combined with disturbance observers in six degrees of freedom of the quadcopter to effectively reject external disturbances. While resp... ver más

Revista: Drones Formato: Electrónico

Tabla de contenido: Vol: 7 Num: 0 Par: 5 Año: 2023

PX4 Simulation Results of a Quadcopter with a Disturbance-Observer-Based and PSO-Optimized Sliding Mode Surface Controller

Acceso

en línea

Yutao Jing, Xianghe Wang, Juan Heredia-Juesas, Charles Fortner, Christopher Giacomo, Rifat Sipahi and Jose Martinez-Lorenzo

This work designed a disturbance-observer-based nonlinear sliding mode surface controller (SMC) and validated the controller using a simulated PX4-conducted quadcopter. To achieve this goal, this research (1) developed a dynamic mathematical model; (2) b... ver más

Revista: Drones Formato: Electrónico

Tabla de contenido: Vol: 6 Num: 0 Par: 9 Año: 2022

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