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Robust GDI-based adaptive recursive sliding mode control (RGDI-ARSMC) for a highly nonlinear MIMO system with varying dynamics of UAV

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Abstract

The novelty of the proposed work lies in the control technique, referred to as the robust generalized dynamic inversion based adaptive recursive sliding mode control (RGDI-ARSMC), for addressing various challenges to control a highly coupled and perturbed system called twin rotor MIMO systems (TRMS) UAV. The continuous disturbances, varying parameter values, actuator failure, and unmodeled states are the challenges related to the proposed controller. The method aims to effectively mitigate unwanted signals, including coupling effects, unknown states, gyroscopic disturbance torque, parametric uncertainties, and other disturbances. The control design process is divided into two phases: the first involves estimating the deviation between the actual and desired output angles and conducting a stability phase analysis. The confined stability-based Lyapunov stability was verified. While the second phase involves the addition of a robust term and the use of an adaptive recursive design procedure to determine the controller parameters for pitch and yaw angles. The proposed control strategy is compared with other techniques such as classical sliding mode control, backstepping, and RGDI-SMC controls. The proposed strategy is also implemented in real-time to characterize its performance. On the basis of obtained results, the considered perturbations were effectively addressed by the augmentation of adaptation laws and recursive control design.

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Acknowledgments

This research work is funded by the National Key R&D Program of China under Grant No. 2018YFB1702200.

Author information

Authors and Affiliations

  1. School of Electrical Engineering, Dalian University of Technology, Dalian, 116024, China

    Nadir Abbas & Xiaodong Liu

  2. School of Computer Science, Faculty of Science and Engineering, University of Hull, Kingyston upon Hull, UK

    Jamshed Iqbal

Authors
  1. Nadir Abbas
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  2. Xiaodong Liu
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  3. Jamshed Iqbal
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Corresponding author

Correspondence to Xiaodong Liu.

Additional information

Nadir Abbas is doing Ph.D. from 2019 in School of Electronic Information and Electrical Engineering with major of Control Theory from Dalian University of Technology, Dalian 116024, China. He is working as a Ph.D. researcher in the Control Theory Lab of Prof. Dr Xiaodong Liu with major in Control Theory. He received Master and bachelor degree from Pakistan in telecommunication engineering and automation control respectively in 2012 & 2016 from top ranked universities. with good research background.

Xiaodong Liu received the B.S. degree from Northeastern Normal University, Changchun, China, in 1986, and the M.S. degree from Jilin University, Jilin, China, in 1989, both in mathematics, and the Ph.D. degree in control theory and control engineering from Northeastern University, Shenyang, China, in 2003. He is currently a Professor with the Research Center of Information and Control, Dalian University of Technology, Dalian, China.

Jamshed Iqbal is Senior Lecturer at University of Hull. He received double M.Sc. M.Sc. (University of Engineering and Technology, Taxila). M.Sc. (Aalto University School of Science and Technology). MSc (Lulea University of Technology) and Ph.D. (University of Genoa). Currently, he is looking after Mechatronics and Robotics programme. His research interests include robotics, mechatronics and control systems.

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Abbas, N., Liu, X. & Iqbal, J. Robust GDI-based adaptive recursive sliding mode control (RGDI-ARSMC) for a highly nonlinear MIMO system with varying dynamics of UAV. J Mech Sci Technol 38, 2015–2028 (2024). https://doi.org/10.1007/s12206-024-0234-6

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  • DOI: https://doi.org/10.1007/s12206-024-0234-6

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