DocumentCode :
721109
Title :
Sliding mode control-based limit cycle oscillation suppression for UAVs using synthetic jet actuators
Author :
Ramos-Pedroza, Natalie ; MacKunis, William ; Reyhanoglu, Mahmut
Author_Institution :
Dept. of Phys. Sci., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA
fYear :
2015
fDate :
9-11 April 2015
Firstpage :
1
Lastpage :
5
Abstract :
A sliding mode control (SMC) method is presented in this paper, which is proven to achieve asymptotic SJA-based LCO suppression without the use of adaptive laws or function approximators. In addition, the SMC-based control strategy presented here is shown to achieve suppression of both pitching and plunging displacements for a class of so-called dual-parallel underactuated systems, where a single scalar control signal simultaneously affects both states. The dual-parallel underactuated system cannot be expressed in a cascade or normal form, and hence, standard backstepping-based control approaches cannot be applied. In this paper, this difficulty is mitigated through novel algebraic manipulation in the error system development, along with innovative design of the sliding surface. A detailed model of the UAV dynamics is utilized along with a rigorous analysis to prove asymptotic regulation of the plunging displacement, and numerical simulation results are provided to demonstrate asymptotic suppression of the pitching and plunging displacements.
Keywords :
actuators; autonomous aerial vehicles; robot dynamics; spatial variables control; variable structure systems; SMC method; UAV dynamics; algebraic manipulation; asymptotic SJA-based LCO suppression; dual-parallel underactuated system; limit cycle oscillation suppression; pitching displacement; plunging displacement; sliding mode control; synthetic jet actuators; unmanned aerial vehicles; Actuators; Aerodynamics; Atmospheric modeling; Convergence; Damping; Numerical models; Sliding mode control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Recent Advances in Sliding Modes (RASM), 2015 International Workshop on
Conference_Location :
Istanbul
Type :
conf
DOI :
10.1109/RASM.2015.7154584
Filename :
7154584
Link To Document :
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