eprintid: 2563
rev_number: 7
eprint_status: archive
userid: 285
dir: disk0/00/00/25/63
datestamp: 2017-08-03 02:21:40
lastmod: 2017-08-03 02:21:40
status_changed: 2017-08-03 02:21:40
type: conference_item
metadata_visibility: show
creators_name: Hoang, Van Truong
creators_name: Singh, Ansu Man
creators_name: Phung, Manh Duong
creators_name: Ha, Quang
creators_id: duongpm@vnu.edu.vn
title: Adaptive Second-order Sliding Mode Control of UAVs for Civil Applications
ispublished: pub
subjects: ECE
divisions: fac_fet
abstract: Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters however are relatively sensitive to rotational noises so that their performance may be quickly downgraded in the case of inadequate control, system uncertainties and/or disturbances. In this study, we deal with the quadrotor control problem by proposing a new control scheme named the adaptive second-order quasi-continuous sliding mode control (adaptive 2-QCSM). The goal is to achieve robust attitude control for the task of monitoring and inspection of built infrastructure. We first formulate the mathematical model of the quadcopter, incorporating nonlinearity, strong coupling, uncertain dynamics and external disturbances. We then use a Lyapunov function to derive the adaptive 2-QCSM control laws. We further tune it to ensure finite-time reaching under these control laws. Extensive simulations have been carried out for evaluation. Results show that the proposed control scheme can attenuate chattering to obtain stable operations under large parameter variations and strong disturbance conditions.
date: 2017-07-31
date_type: published
official_url: http://www.iaarc.org/publications/2017_proceedings_of_the_34rd_isarc/adaptive_second_order_sliding_mode_control_of_uavs_for_civil_applications.html
full_text_status: public
pres_type: paper
pagerange: 816-822
event_title: The 34th International Symposium on Automation and Robotics in Construction (ISARC)
event_location: Taipei, Taiwan
event_dates: July 2017
event_type: conference
refereed: TRUE
related_url_url: http://uet.vnu.edu.vn/~duongpm/
related_url_type: author
citation:   Hoang, Van Truong and Singh, Ansu Man and Phung, Manh Duong and Ha, Quang  (2017) Adaptive Second-order Sliding Mode Control of UAVs for Civil Applications.  In: The 34th International Symposium on Automation and Robotics in Construction (ISARC), July 2017, Taipei, Taiwan.     
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2563/1/ISARC2017-Paper114.pdf