IAES International Journal of Robotics and Automation (IJRA)
Vol 10, No 4: December 2021

Adjustment mechanism with sliding mode for adaptive PD controller applied to unmanned fixed-wing MAV altitude

A.T. Espinoza-Fraire (Facultad de Ingeniería, Ciencias y Arquitectura Universidad Juárez del Estado de Durango)
A. Saenz-Esqueda (Facultad de Ingeniería, Ciencias y Arquitectura Universidad Juárez del Estado de Durango)
F. Cortes-Martinez (Facultad de Ingeniería, Ciencias y rquitectura Universidad Juárez del Estado de Durango)

Article Info

Publish Date
01 Dec 2021

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.

Copyrights © 2021




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Journal Info
IAES International Journal of Robotics and Automation (IJRA)
Website

Abbrev

IJRA

Publisher

Institute of Advanced Engineering and Science

Subject

Automotive Engineering Electrical & Electronics Engineering

Description

Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our ...