Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.

Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties.

The implementations of fuel cells (FCs) in the vehicle industry have gained great attention for the last few decades owing to simple utilization, silent operation, high efficiency and modular structure. Technological advancements show that the use of FCs in electric vehicles (EVs) will increase rapidly and cause a revolution, and will be an alternative to traditional vehicles in the future. Commercial vehicles, projects and research show that work is underway to ensure that FCEVs have sufficient performance advances for their daily transportation needs. However, the lack of a detailed study that will shed light on researchers working in this field is obvious. It aims to provide a comprehensive scientific publication on the current status and future expectations to engineers and researchers interested in this field. In the current study, numerous studies have been examined in detail and added as supplementary to the bibliography. In this context, FCEVs are classified under headings of configurations, systems components, control/management, technical challenges, marketing and future aspects. First of all, FC types and electric motors are discussed in terms of their application areas, characteristic properties and operating conditions. Power converters, which are voltage regulation and motor drive topologies used in FCEVs, are detailed according to the structural frequency of use, structure, and complexity. In the next sections, control issues for converters and technical challenges are branched for FCEVs. In final section, the current status and future aspects are reported using a large number of marketing and target data.

A review and research on fuel cell electric vehicles: Topologies, power electronic converters, energy management methods, technical challenges, marketing and future aspects

The attitude control of quadrotor unmanned aerial vehicle (UAV) is investigated. The aim of this paper is to develop a continuous multivariable attitude control law, which drives the attitude tracking errors of quadrotor UAV to zero in finite time. First, a multivariable super-twisting-like algorithm (STLA) is proposed for arbitrary order integrator systems subject to matched disturbances. A discontinuous integral term is incorporated in the control law in order to compensate the disturbances. A rigorous proof of the finite time stability of the close-loop system is derived by utilizing the Lyapunov method and the homogeneous technique. Then, the implementation of the developed method in an indoor quadrotor UAV is performed. The remarkable features of the developed algorithm includes the finite time convergence, the chattering suppression and the nominal performance recovery. Finally, the efficiency of the proposed method is illustrated by numerical simulations and experimental verification.

Multivariable Finite Time Attitude Control for Quadrotor UAV: Theory and Experimentation

Neural network-based adaptive sliding mode control design for position and attitude control of a quadrotor UAV

The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, Feedback linearization, Adaptive, Robust, Optimal, L1, H∞, Fuzzy logic and Artificial neutral networks. The conclusion of this work is a proposal of hybrid systems to be considered as they combine advantages from more than one control philosophy.

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A Review of Control Algorithms for Autonomous Quadrotors

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor helicopter control is proposed in presence of actuator faults. Radial Base Function Neural Network (RBFNN), Fuzzy Logic Control approach (FLC) and Sliding Mode Control (SMC) technique are used to design a controller, named Fault Tolerant Control (FTC), for each subsystem of the octorotor helicopter. The proposed FTC scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the proposed FTC can greatly alleviate the chattering effect, good tracking in presence of actuator faults.

Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV.

In this paper, a robust attitude and position control of a novel modified quadrotor unmanned aerial vehicles (UAV) which has higher drive capability as well as greater robustness against actuator faults than conventional quad-rotor UAV has been developed. A robust backstepping controller with adaptive interval type-2 fuzzy logic is proposed to control the attitude and position of the modified quadrotor under actuator faults. Besides globally stabilizing the system amid other disturbances, the insensitivity to the model errors and parametric uncertainties are the asset of the backstepping approach. The adaptive interval type-2 fuzzy logic as fault observer can effectively estimate the lumped faults without the knowledge of their bounds for the modified quadrotor UAV. Additionally, the type-2 fuzzy systems are utilized to approximate the local nonlinearities of each subsystem under actuator faults, next and in order to achieve the expected tracking performance, we used Lyapunov theory stability and convergence analysis to online adjust adaptive laws. As a result, the uniformly ultimate stability of the modified quadrotor system is proved. Finally, the performances of the proposed control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the modified quadrotor in vertical flights in presence of actuator faults.

Fault tolerant control for modified quadrotor via adaptive type-2 fuzzy backstepping subject to actuator faults.

Energy management strategy of Supercapacitor/Fuel Cell energy storage devices for vehicle applications

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial trirotor helicopter control is proposed in presence of defects in the system. A control strategy based on the coupling of the interval type-2 fuzzy logic control and sliding mode control technique are used to design a controller. The main purpose of this work is to eliminate the chattering phenomenon and guaranteeing the stability and the robustness of the system. In order to achieve this goal, interval type-2 fuzzy logic control has been used to generate the discontinuous control signal. The simulation results have shown that the proposed control strategy can greatly alleviate the chattering effect, and perform good reference tracking in presence of defects in the system.

Fault tolerant control based on interval type-2 fuzzy sliding mode controller for coaxial trirotor aircraft.

In this study, we present an ameliorated power management method for dc microgrid. The importance of exploiting renewable energy has long been a controversial topic, and due to the advantages of DC over the AC type, a typical DC islanded micro-grid has been proposed in this paper. This typical microgrid is composed of two sources: fuel cell (FC), solar cell (PV) and one storage element [supercapacitor (SC)]. Here, we aimed to provide a management strategy that guarantees optimized bus voltage with arranged power-sharing between the sources. This proposed management aims to provide high-quality energy to the load under different loading conditions with variable solar irradiance, taking into account the FC state. Due to the slow dynamics of the FC, the SC was equipped to supply the transient period. A management algorithm is implemented to hold the DC bus voltage stable against the load variations. The management controller is based on differential flatness approach to generate the references. The DC bus is regulated by the SC energy; to reduce the fluctuations in the DC bus voltage, The PI controller is implemented. This proposed strategy reduces the voltage ripple in the DC bus. Moreover, it provides permanent supplying to the load with smooth behaviour over the sudden changes in the demand as depicted in the simulation results. Our study revealed that this proposed manager can be used for this kind of grids easily.

/pdf/a-hybrid-power-system-based-on-fuel-cell-photovoltaic-source-34sruz9ktl.pdf

Samir Zeghlache

Papers

Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV.

Fault tolerant control for modified quadrotor via adaptive type-2 fuzzy backstepping subject to actuator faults.

Energy management strategy of Supercapacitor/Fuel Cell energy storage devices for vehicle applications

Fault tolerant control based on interval type-2 fuzzy sliding mode controller for coaxial trirotor aircraft.

A hybrid power system based on fuel cell, photovoltaic source and supercapacitor