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Adaptive Super Twisting Control of a Dual-rotor VTOL Flight System Under Model Uncertainties
Jorge M. Arizaga,Jose. R. Noriega,L. A. Garcia-Delgado,Herman Castaneda 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.6
This paper addresses an adaptive super twisting control for a dual-rotor flight system subject to uncertainties. The system can perform vertical take-off and landing, roll and yaw movements. The dynamical model is described under the Euler-Lagrange approach, where a characterization of the thrust and the torque of the rotors is included. However, uncertainties such as friction and unmodeled dynamics remain. To overcome these problems, a class of adaptive sliding mode control is designed, which is robust to bounded uncertainties and external perturbations, offers reduced chattering, and not overestimate the control gain. Furthermore, the closed-loop stability is analyzed. Finally, simulation and experimental validation, and a comparison versus other standard control approaches illustrate the feasibility and usefulness of the proposed controller.