Abstract
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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
