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A Novel Model-Free Control Technique for Angular Motion of a Single Ducted-Fan Unmanned Aerial Vehicle

Thien Minh Tran

Thien Minh Tran

Department of Mechatronics, Faculty of Mechanical Engineering, HCMC University of Technology and Education (HCMUTE)Ho Chi Minh City, Vietnam
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Tran, Thien Minh
  
26 giu 2025
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Pubblicato online: 26 giu 2025
Pagine: 34 - 40
Ricevuto: 26 feb 2024
Accettato: 09 mag 2024
DOI: https://doi.org/10.14313/jamris-2025-012
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© 2025 Thien Minh Tran et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Figure 1.

The yaw motion control concept of the single ducted-fan UAV
The yaw motion control concept of the single ducted-fan UAV

Figure 2.

The proposed controller TDE-ISMC’s diagram
The proposed controller TDE-ISMC’s diagram

Figure 3.

Tracking the performance of trapezium wave type (a) reference
Tracking the performance of trapezium wave type (a) reference

Figure 4.

Tracking the performance of trapezium wave type (b) reference
Tracking the performance of trapezium wave type (b) reference

Figure 5.

Error of tracking the performance of trapezium wave type (a) reference
Error of tracking the performance of trapezium wave type (a) reference

Figure 6.

Error of tracking the performance of trapezium wave type (b) reference
Error of tracking the performance of trapezium wave type (b) reference

Figure 7.

Control signal input of four actuators of TDE-ISMC (type a)
Control signal input of four actuators of TDE-ISMC (type a)

Figure 8.

Control signal input of four actuators of SMC (type a)
Control signal input of four actuators of SMC (type a)

Figure 9.

Control signal input of four actuators of TDE-ISMC (type b)
Control signal input of four actuators of TDE-ISMC (type b)

Figure 10.

Control signal input of four actuators of SMC (type b)
Control signal input of four actuators of SMC (type b)

Figure 11.

Tracking the performance of sine wave type (c) reference
Tracking the performance of sine wave type (c) reference

Figure 12.

Tracking the performance of sine wave type (d) reference
Tracking the performance of sine wave type (d) reference

Figure 13.

Error of tracking the performance of sine wave type (c) reference
Error of tracking the performance of sine wave type (c) reference

Figure 14.

Error of tracking the performance of sine wave type (d) reference
Error of tracking the performance of sine wave type (d) reference

Figure 15.

Control signal input of four actuators of TDE-ISMC (type c)
Control signal input of four actuators of TDE-ISMC (type c)

Figure 16.

Control signal input of four actuators of SMC (type c)
Control signal input of four actuators of SMC (type c)

Figure 17.

Control signal input of four actuators of TDE-ISMC (type d)
Control signal input of four actuators of TDE-ISMC (type d)

Figure 18.

Control signal input of four actuators of SMC (type d)
Control signal input of four actuators of SMC (type d)

RMSE and ITAE in scenario #2 (sine waves)_

Reference RMSE ITAE
Type (c) Type (d) Type (c) Type (d)
TDE-ISMC 1.0319 4.2562 0.0465 0.1311
SMC 24.6861 37.5185 1.3234 2.0241

RMSE and ITAE in scenario #1 (trapezium waves)_

Reference RMSE ITAE
Type (a) Type (b) Type (a) Type (b)
TDE-ISMC 0.5223 0.5226 0.0254 0.0252
SMC 0.9967 2.5176 0.0384 0.0825
Lingua:
Inglese
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Argomenti della rivista:
Informatica, Intelligenza artificiale, Ingegneria, Elettrotecnica, Ingegneria dell'automazione, metrologia e collaudo, Ingegneria meccanica, Basi dell'ingegneria meccanica
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