This paper presents a robust adaptive sliding mode controller scheme as applied to a class of uncertain nonlinear systems with parametric uncertainties and external disturbances. First, a sliding mode control technique is designed. Then, the proposed robust adaptive control schemes are applied to estimate the parametric uncertainties and the upper bound value of the external disturbances by using adaptive laws, ensure robustness in presence of parametric uncertainties and external disturbances, and reduce chattering problem by introducing an hyperbolic tangent function. Lyapunov stability theory is used to analyze the stability of the closed-loop system. As an exemplar, the schemes have been applied to a quadrotor unmanned aerial vehicle (QUAV) model. Simulation results for the control of the QUAV model are provided to illustrate the performance of the proposed robust adaptive sliding mode control scheme and demonstrate that the proposed method has good tracking performance. The simulation results clearly prove the effectiveness of our approach.


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    Title :

    Robust adaptive sliding mode control strategy of uncertain nonlinear systems


    Contributors:


    Publication date :

    2023-01-01


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Robust Sliding Mode Control of Linear Uncertain Systems

    Yasuda, K. / Nakatsuji, Y. | British Library Online Contents | 1998




    Robust Adaptive Nonlinear Controller Design for Uncertain Nonlinear Systems

    Lee, J.-K. / Abe, K.-I. / International Federation of Automatic Control | British Library Conference Proceedings | 2000