Synthesizing electrical drive control system with several sliding surface reaching laws applied to manipulate Quadcopter
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https://doi.org/10.54939/1859-1043.j.mst.FEE.2024.27-34Keywords:
Variable structure control; Lyapunov stability; Sliding surface reaching law; UAV Quadcopter.Abstract
This paper studies on the stability of a variable structure control system operating in sliding mode using Lyapunov criteria and different sliding surface reaching speeds. This is a new research result that allows quantifying sliding surface parameters thanks to the system’s settling time and desired error. The paper also proposes a method for synthesizing a variable structure controller using a general sliding surface approach law and specifying some derivatives of the general sliding surface reaching law. Some simulations of controlling a Quadcopter motion channel have been performed in Matlab to demonstrate the proposed research results.
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