Nour Ben Ammar1, Hegazy Rezk2,3,*, Soufiene Bouallègue1,4
CMC-Computers, Materials & Continua, Vol.67, No.3, pp. 4081-4100, 2021, DOI:10.32604/cmc.2021.015681
Abstract This work presents a memetic Shuffled Frog Leaping Algorithm (SFLA) based tuning approach of an Integral Sliding Mode Controller (ISMC) for a quadrotor type of Unmanned Aerial Vehicles (UAV). Based on the Newton–Euler formalism, a nonlinear dynamic model of the studied quadrotor is firstly established for control design purposes. Since the main parameters of the ISMC design are the gains of the sliding surfaces and signum functions of the switching control law, which are usually selected by repetitive and time-consuming trials-errors based procedures, a constrained optimization problem is formulated for the systematically tuning of these unknown variables. Under time-domain operating… More >
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