Synthesis of nonlinear and adaptive-robust systems with sliding modes in controlling the dynamics of a tricopter with rotary propellers under the action of unknown external disturbances

The article develops a complete nonlinear mathematical model of tricopter dynamics with rotary propellers in the form of Lagrange-Euler equations and two systems of nonlinear and adaptive-robust control with sliding modes, operable under the action of unknown external disturbances. The nonlinear control system with sliding modes and constant controller parameters is synthesized based on the Lyapunov function method. The adaptive-robust system is developed on the basis of the Lyapunov function method with a smooth sliding mode control and using an adaptive estimate of the upper bound of external disturbances. The performance of the proposed control systems under the action of unknown external disturbances and variations in aerodynamic coefficients is investigated. A comparative study of the constructed control systems is conducted in the MatLab/Simulink software environment.

Authors: Duy Khanh Nguyen, V. V. Putov, V. N. Sheludko

Direction: Electrical Engineering

Keywords: tricopter with rotary propellers, complete nonlinear mathematical model of tricopter dynamics, nonlinear and adaptive-robust controls with sliding modes, unknown external disturbances, modeling

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