Experimental evaluation of event-triggered sliding mode control for trajectory tracking of a quadcopter

被引：2
|
作者：
Raju, Sarika [1 ]
Deenadayalan, Ezhilarasi [1 ,2 ]
Ayyagari, Ramakalyan [1 ]
机构：
[1] Natl Inst Technol, Dept Instrumentat & Control Engn, Trichy, India
[2] Natl Inst Technol, Dept Instrumentat & Control Engn, Trichy 620015, Tamil Nadu, India
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2023年 / 237卷 / 07期
关键词：
Event triggering; sliding mode control; quadcopter; stability; trajectory tracking; SYSTEMS;
D O I：
10.1177/09596518231153324
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an experimental assessment of event-triggered sliding mode control (ET-SMC) on a Quadcopter for trajectory tracking. Sufficient triggering conditions using Lyapunov analysis and a lower bound of inter-event time to avoid Zeno behaviour are derived to ensure robust stability. Real-time flights are performed for tracking constant and time-varying trajectories. Results reveal that while using the proposed controller, there is a significant reduction in the number of updates implying a substantial saving in the computations.
引用
收藏
页码：1281 / 1295
页数：15
相关论文
共 50 条
  • [1] An experimental analysis of a robust event triggered super twisting sliding mode control for Quadcopter trajectory tracking
    Raju, Sarika
    Deenadayalan, Ezhilarasi
    Ayyagari, Ramakalyan
    [J]. SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES, 2024, 49 (04):
  • [2] Event-triggered sliding mode control for trajectory tracking of nonlinear systems
    Mustafa, Aquib
    Dhar, Narendra K.
    Verma, Nishchal K.
    [J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2020, 7 (01) : 307 - 314
  • [3] Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems
    Aquib Mustafa
    Narendra K.Dhar
    Nishchal K Verma
    [J]. IEEE/CAA Journal of Automatica Sinica, 2020, 7 (01) : 307 - 314
  • [4] Event-triggered sliding mode trajectory tracking control for underactuated unmanned surface vessel
    Zhao, Zhongyuan
    Wang, Xin
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2023, 237 (06) : 1087 - 1098
  • [5] Event-triggered sliding mode control for trajectory tracking of robotic system with signal quantization
    Gao, Hang
    Ma, Chao
    Zhang, Xiaodong
    Zheng, Jun
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2024, 238 (08) : 1380 - 1396
  • [6] Trajectory tracking and sliding mode event-triggered control for a quadrotor unmanned aerial vehicle
    Wang, Jie
    Ma, Xiao
    Zong, Qun
    Wang, Dan-Dan
    [J]. Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2019, 36 (07): : 1083 - 1089
  • [7] Event-triggered sliding mode tracking control of autonomous surface vehicles
    Yan, Yan
    Yu, Shuanghe
    Sun, Changyin
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2021, 358 (08): : 4393 - 4409
  • [8] Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle
    Su, Bo
    Wang, Hongbin
    Li, Ning
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2021, 43 (15) : 3483 - 3496
  • [9] Fixed Threshold Event-triggered Adaptive Sliding Mode Trajectory Tracking Control of Unmanned Surface Vehicles
    He, Zhiping
    Wang, Guofeng
    Fan, Yunsheng
    Qiao, Shuanghu
    [J]. 2022 IEEE 17TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2022, : 33 - 39
  • [10] Event-triggered Sliding Mode Attitude Tracking Control of Underwater Glider
    Zou, Haoming
    Zhang, Guoshan
    Meng, Qinghao
    [J]. 2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 645 - 650
12345