This paper presents the development of set-point weighting-based integral super-twisting sliding mode control (SISTASMC) with full-order state observers to overcome the control challenges encountered with nonlinear and underactuated systems. Quadcopter UAV form is a good example of underactu-ated systems, and this is selected in this research for validating the developed control. A comparative assessment through experimental validation is conducted between SISTASMC and Set-point weighting-based Integral Sliding Mode Control to demonstrate the performance of both controllers. Based on predetermined performance criteria, the results obtained demonstrate good performance of SISTASMC in dealing with uncertainty.


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    Titel :

    Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV


    Beteiligte:


    Erscheinungsdatum :

    01.10.2019


    Format / Umfang :

    1240872 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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