| contributor author | Di Paola, Vincenzo | |
| contributor author | Goldsztejn, Alexandre | |
| contributor author | Zoppi, Matteo | |
| contributor author | Caro, Stéphane | |
| date accessioned | 2023-08-16T18:13:20Z | |
| date available | 2023-08-16T18:13:20Z | |
| date copyright | 5/4/2023 12:00:00 AM | |
| date issued | 2023 | |
| identifier issn | 1555-1415 | |
| identifier other | cnd_018_06_061008.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4291651 | |
| description abstract | Wind gusts are among the well-known disturbances that afflict aerial systems. A tracking task for a load suspended by massless rigid bars and quadrotors is considered in this paper. The complexity of the tracking task lies in the presence of wind gusts. Therefore, a self-tuning gain technique for a proportional-integral-derivative (PID) control is introduced to accomplish tracking tasks when wind gusts appear. To automatically tune the PID gains, a sliding mode condition is exploited. The stability of this approach, considering bounded disturbances, is guaranteed by introducing a supervisory control designed through the Lyapunov method. The proposed solution and its performances were tested through simulation and compared with both PD and PID controls. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design of a Sliding Mode-Adaptive Proportional-Integral-Derivative Control for Aerial Systems With a Suspended Load Exposed to Wind Gusts | |
| type | Journal Paper | |
| journal volume | 18 | |
| journal issue | 6 | |
| journal title | Journal of Computational and Nonlinear Dynamics | |
| identifier doi | 10.1115/1.4062324 | |
| journal fristpage | 61008-1 | |
| journal lastpage | 61008-9 | |
| page | 9 | |
| tree | Journal of Computational and Nonlinear Dynamics:;2023:;volume( 018 ):;issue: 006 | |
| contenttype | Fulltext | |
