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Adaptive sliding mode attitude control of 2-degrees-of-freedom helicopter system with actuator saturation and disturbances (2023)
Journal Article
Li, R., Lei, C., Shi, B., Zhu, Q., & Yue, X. (in press). Adaptive sliding mode attitude control of 2-degrees-of-freedom helicopter system with actuator saturation and disturbances. Journal of Vibration and Control, https://doi.org/10.1177/10775463231212530

The modelling uncertainties, external disturbance and actuator saturation issues will degrade the performance and even the safety of flight. To improve control performance, this study proposes an adaptive U-model based double sliding control (UDSMC)... Read More about Adaptive sliding mode attitude control of 2-degrees-of-freedom helicopter system with actuator saturation and disturbances.

Model-free robust decentralised control of multi-input-multi-output nonlinear interconnected dynamic systems (2023)
Journal Article
Zhu, Q., Li, R., Zhang, J., & Shi, B. (in press). Model-free robust decentralised control of multi-input-multi-output nonlinear interconnected dynamic systems. Journal of Vibration and Control, https://doi.org/10.1177/10775463231206601

This study presents a generalised framework for model-free robust decentralised control (MFRDC) of interconnected MIMO dynamic systems, with the goal of significantly reducing complexity in model-based design. A model-free robust sliding mode control... Read More about Model-free robust decentralised control of multi-input-multi-output nonlinear interconnected dynamic systems.

Trajectory tracking of a quadrotor using extend state observer based U-model enhanced double sliding mode control (2023)
Journal Article
Li, R., Zhu, Q., Nemati, H., Yue, X., & Narayan, P. (2023). Trajectory tracking of a quadrotor using extend state observer based U-model enhanced double sliding mode control. Journal of The Franklin Institute, 360(4), 3520-3544. https://doi.org/10.1016/j.jfranklin.2022.11.036

This paper develops a novel U-model enhanced double sliding mode controller (UDSMC) for a quadrotor based on multiple-input and multiple-output extended-state-observer (MIMO-ESO). UDSMC is designed using Lyapunov synthesis and Hurwitz stability to no... Read More about Trajectory tracking of a quadrotor using extend state observer based U-model enhanced double sliding mode control.