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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    Title :

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


    Contributors:


    Publication date :

    2019-10-01


    Size :

    1240872 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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