Robust fault‐tolerant motion/force control of a fully‐actuated hexarotor using adaptive sliding mode impedance control

DOI10.1002/RNC.6005MaRDI QIDQ6087296zbMATH OpenFDO

Authors Ran Jiao

Publication date 11 December 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/RNC.6005

zbMATH Keywords

extended state observerfault-tolerant controlmotion/force controlsliding mode impedance controlunmanned aerial vehicle

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Observers (93B53) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A novel adaptive-gain supertwisting sliding mode controller: methodology and application
• A simplified version of adaptive super-twisting control
• Adaptive prescribed performance control of QUAVs with unknown time-varying payload and wind gust disturbance
• Super-twisting observer-based sliding mode control with fuzzy variable gains and its applications to fully-actuated hexarotors

Cited in

(1)

• Fault‐tolerant control of an aerial manipulator with guaranteed tracking performance

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