Adjustment mechanism with sliding mode for adaptive PD controller applied to unmanned fixed-wing MAV altitude
Abstract
This work presents an adjustment mechanism with the sliding modes technique to de- sign a proportional derivative (PD) controller with adaptive gains. The objective and contribution are to design a robust adjustment mechanism in the presence of unknown and not modeled perturbations in the system; this perturbation can be considered wind gusts. The robust adjustment mechanism is designed with the MIT rule and the gra- dient method with the sliding mode theory. The adaptive PD obtained is applied to regulate unmanned fixed-wing miniature aerial vehicle (MAV’s) altitude.
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PDFDOI: http://doi.org/10.11591/ijra.v10i4.pp308-318
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IAES International Journal of Robotics and Automation (IJRA)
ISSN 2089-4856, e-ISSN 2722-2586
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).