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All Journal IAES International Journal of Robotics and Automation (IJRA)
A. Saenz-Esqueda
Facultad de Ingeniería, Ciencias y Arquitectura Universidad Juárez del Estado de Durango
Automotive Engineering Electrical & Electronics Engineering

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Adjustment mechanism with sliding mode for adaptive PD controller applied to unmanned fixed-wing MAV altitude A.T. Espinoza-Fraire; A. Saenz-Esqueda; F. Cortes-Martinez
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i4.pp308-318

Abstract

This work presents an adjustment mechanism with the sliding modes technique to de- sign a proportional derivative (PD) controller with adaptive gains. The objective and contribution are to design a robust adjustment mechanism in the presence of unknown and not modeled perturbations in the system; this perturbation can be considered wind gusts. The robust adjustment mechanism is designed with the MIT rule and the gra- dient method with the sliding mode theory. The adaptive PD obtained is applied to regulate unmanned fixed-wing miniature aerial vehicle (MAV’s) altitude.
Co-Authors A.T. Espinoza-Fraire F. Cortes-Martinez