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  • UKACC 2018 (01.03.2018)

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Design and Development of a Novel Controller for Robust Attitude Control of an Unmanned Air Vehicle for Nuclear Environments

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

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Design and Development of a Novel Controller for Robust Attitude Control of an Unmanned Air Vehicle for Nuclear Environments. / Nemati, Hamidreza; Montazeri, Allahyar.

2018 UKACC 12th International Conference on Control (CONTROL). IEEE, 2018. p. 373-378.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

Harvard

Nemati, H & Montazeri, A 2018, Design and Development of a Novel Controller for Robust Attitude Control of an Unmanned Air Vehicle for Nuclear Environments. in 2018 UKACC 12th International Conference on Control (CONTROL). IEEE, pp. 373-378, 12th UKACC International Conference on Control, Sheffield, United Kingdom, 5/09/18. https://doi.org/10.1109/CONTROL.2018.8516729

APA

Vancouver

Nemati H, Montazeri A. Design and Development of a Novel Controller for Robust Attitude Control of an Unmanned Air Vehicle for Nuclear Environments. In 2018 UKACC 12th International Conference on Control (CONTROL). IEEE. 2018. p. 373-378 doi: 10.1109/CONTROL.2018.8516729

Author

Bibtex

@inproceedings{01168f99152a4c069caafb3e69dd085f,
title = "Design and Development of a Novel Controller for Robust Attitude Control of an Unmanned Air Vehicle for Nuclear Environments",
abstract = "This study presents two new robust nonlinear control algorithms based on the theory of time-varying sliding mode control (TVSMC) strategy to stabilize the attitude of an unmanned aerial vehicle (UAV) for nuclear decommissioning applications. Constant radiation affects the UAV performance. For instance, its parameters are time-varying and subject to uncertainty all the time. This is especially important in designing sliding mode control as the motion of the control system in the reaching phase is highly sensitive against environmental disturbances and parameter uncertainties. In this study, two types of time-varying sliding manifolds are proposed to eliminate the reaching phase and to enhance the robust performance in the aforementioned phase. Therefore, two novel types of time-varying sliding surfaces are introduced based on the initial condition as intercept-varying sliding mode control (IVSMC) approaches. In the first proposed method, the reaching time from initial manifold to the desired one is similar to that of the conventional SMC method. While in the second proposed IVSMC scheme, one can accelerate or decelerate the motion of the time-varying sliding manifolds at any selected time. Furthermore, chattering phenomenon can be avoided using two techniques known as boundary layer and continuous SMC. Finally, to highlight the robust performance of the proposed methods, a quadrotor UAV subject to external disturbances is simulated.",
author = "Hamidreza Nemati and Allahyar Montazeri",
note = "{\textcopyright}2018 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.; 12th UKACC International Conference on Control ; Conference date: 05-09-2018 Through 07-09-2018",
year = "2018",
month = nov,
day = "1",
doi = "10.1109/CONTROL.2018.8516729",
language = "English",
pages = "373--378",
booktitle = "2018 UKACC 12th International Conference on Control (CONTROL)",
publisher = "IEEE",
url = "https://control2018.group.shef.ac.uk/",

}

RIS

TY - GEN

T1 - Design and Development of a Novel Controller for Robust Attitude Control of an Unmanned Air Vehicle for Nuclear Environments

AU - Nemati, Hamidreza

AU - Montazeri, Allahyar

N1 - ©2018 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

PY - 2018/11/1

Y1 - 2018/11/1

N2 - This study presents two new robust nonlinear control algorithms based on the theory of time-varying sliding mode control (TVSMC) strategy to stabilize the attitude of an unmanned aerial vehicle (UAV) for nuclear decommissioning applications. Constant radiation affects the UAV performance. For instance, its parameters are time-varying and subject to uncertainty all the time. This is especially important in designing sliding mode control as the motion of the control system in the reaching phase is highly sensitive against environmental disturbances and parameter uncertainties. In this study, two types of time-varying sliding manifolds are proposed to eliminate the reaching phase and to enhance the robust performance in the aforementioned phase. Therefore, two novel types of time-varying sliding surfaces are introduced based on the initial condition as intercept-varying sliding mode control (IVSMC) approaches. In the first proposed method, the reaching time from initial manifold to the desired one is similar to that of the conventional SMC method. While in the second proposed IVSMC scheme, one can accelerate or decelerate the motion of the time-varying sliding manifolds at any selected time. Furthermore, chattering phenomenon can be avoided using two techniques known as boundary layer and continuous SMC. Finally, to highlight the robust performance of the proposed methods, a quadrotor UAV subject to external disturbances is simulated.

AB - This study presents two new robust nonlinear control algorithms based on the theory of time-varying sliding mode control (TVSMC) strategy to stabilize the attitude of an unmanned aerial vehicle (UAV) for nuclear decommissioning applications. Constant radiation affects the UAV performance. For instance, its parameters are time-varying and subject to uncertainty all the time. This is especially important in designing sliding mode control as the motion of the control system in the reaching phase is highly sensitive against environmental disturbances and parameter uncertainties. In this study, two types of time-varying sliding manifolds are proposed to eliminate the reaching phase and to enhance the robust performance in the aforementioned phase. Therefore, two novel types of time-varying sliding surfaces are introduced based on the initial condition as intercept-varying sliding mode control (IVSMC) approaches. In the first proposed method, the reaching time from initial manifold to the desired one is similar to that of the conventional SMC method. While in the second proposed IVSMC scheme, one can accelerate or decelerate the motion of the time-varying sliding manifolds at any selected time. Furthermore, chattering phenomenon can be avoided using two techniques known as boundary layer and continuous SMC. Finally, to highlight the robust performance of the proposed methods, a quadrotor UAV subject to external disturbances is simulated.

U2 - 10.1109/CONTROL.2018.8516729

DO - 10.1109/CONTROL.2018.8516729

M3 - Conference contribution/Paper

SP - 373

EP - 378

BT - 2018 UKACC 12th International Conference on Control (CONTROL)

PB - IEEE

T2 - 12th UKACC International Conference on Control

Y2 - 5 September 2018 through 7 September 2018

ER -