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  • Open Access


    Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a Quadrotor

    Rabii Fessi1, Hegazy Rezk2,3,*, Soufiene Bouallègue1,4

    CMC-Computers, Materials & Continua, Vol.68, No.2, pp. 2265-2282, 2021, DOI:10.32604/cmc.2021.017237

    Abstract The research on Unmanned Aerial Vehicles (UAV) has intensified considerably thanks to the recent growth in the fields of advanced automatic control, artificial intelligence, and miniaturization. In this paper, a Grey Wolf Optimization (GWO) algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode (FTSM) controllers for a quadrotor UAV. A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone. Controllers for altitude, attitude, and position dynamics become separately designed and tuned. To work around the repetitive and time-consuming trial-error-based procedures,… More >

  • Open Access


    Terminal Sliding Mode Controllers for Hydraulic Turbine Governing System with Bifurcated Penstocks under Input Saturation

    Ji Liang1, Zhihuan Chen2,*, Xiaohui Yuan1,3,*, Binqiao Zhang3, Yanbin Yuan4

    CMES-Computer Modeling in Engineering & Sciences, Vol.123, No.2, pp. 603-629, 2020, DOI:10.32604/cmes.2020.09328

    Abstract Terminal sliding mode controller method is introduced to enhance the regulation performance of the hydraulic turbine governing system (HTGS). For the purpose of describing the characteristics of controlled system and deducing the control rule, a nonlinear mathematic model of hydraulic turbine governing system with bifurcated penstocks (HTGSBF) under control input saturation is established, and the input/output state linearization feedback approach is used to obtain the relationship between turbine speed and controller output. To address the control input saturation problem, an adaptive assistant system is designed to compensate for controller truncation. Numerical simulations have been conducted… More >

  • Open Access


    A Bio-Inspired Global Finite Time Tracking Control of Four-Rotor Test Bench System

    Rooh ul Amin1, Irum Inayat2, Li Aijun1, Shahaboddin Shamshirband3,4,*, Timon Rabczuk5

    CMC-Computers, Materials & Continua, Vol.57, No.3, pp. 365-388, 2018, DOI:10.32604/cmc.2018.03757

    Abstract A bio-inspired global finite time control using global fast-terminal sliding mode controller and radial basis function network is presented in this article, to address the attitude tracking control problem of the three degree-of-freedom four-rotor hover system. The proposed controller provides convergence of system states in a pre-determined finite time and estimates the unmodeled dynamics of the four-rotor system. Dynamic model of the four-rotor system is derived with Newton’s force equations. The unknown dynamics of four-rotor systems are estimated using Radial basis function. The bio-inspired global fast terminal sliding mode controller is proposed to provide chattering… More >

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