This paper presents a fuzzy adaptive terminal sliding mode control for an unmanned miniature helicopter including uncertainties and external disturbances, and a terminal sliding surface is utilized to provide faster convergence. Due to the fact that the presented controlled system is facing a singularity problem, the controlling structure is developed to a nonsingular one. In the proposed controlling structure, a continuous nonsingular terminal sliding mode control is combined with an adaptive learning algorithm and fuzzy logic system to estimate the uncertainties; and the parameter adaptation law is obtained based on the Lyapunov stability theorem. Analytical results show that the proposed approach enables a faster and more accurate tracking performance as compared to recent controlling methods.


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    Titel :

    Fuzzy Adaptive Nonsingular Terminal Sliding Mode Control of a Miniature Helicopter


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.02.2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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