11573

10626

كارشناسي ارشد

كنترل

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

1395

ده، 75ص.: مصور

جواد عسگري، مرضيه كمالي

ايمان ايزدي

فريد شيخ الاسلام، مريم ذكري

1395/07/27

مهندسي برق و كامپيوتر

ID10626

Design of first and second order sliding mode control with fractional order sliding surface mehdi farhadi mahdi farhadi@ec iut ac ir Date of Submission 2016 05 16 Department of Electrical And Computer Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiSupervisors J Askari J Askari@cc iut ac ir M Kamali M Kamali@cc iut ac irAdvisor I Izadi Iman izadi@cc iut ac irAbstract Quadrotors are a type of Unmanned Aerial Vehicles UAVs that have unique features comparedto other ones including flying ability of vertical take off and landing flight in small environments andhigh maneuverability the ability to implement and test a variety of control methods In the past fewyears fractional order differential equations have been applied to practical engineering field such ascontroller design Using these equations it is possible to design a robust controller against uncertain ties and disturbance while the system has good performance which is the purpose of fractional ordersliding mode design In this thesis fractional order sliding surface is using first and second order slid ing mode control design by use of super twisting algorithm The aim of this controller is to improveperformance and reduction in chatterng in sliding mode method For this purpose a P D sliding sur face is used for first order sliding mode control and the quatrotor model is simulated as case study Then by defining P D sliding surface the control rule is designed in two different modes 0 1and 1 2 and the effect of in the performace of the system is evaluated Then second ordersliding mode with super twisting algorithm is proposed for Quadrotor and the results are comparedwith first order sliding mode control with integer and fractional sliding surface Finally instead ofusing P D sliding surface P D sliding surface is used for second order sliding mode control rulein super twisting algorithm and again the effect of in second order sliding mode were evaluated Based on simulations it can be claimed that using an optimal value for in fractional order slidingsurface P D decreases the chattering in control input and transient and steady state error improve Keywords Fractional order sliding mode Second order sliding mode Quadrotor

جواد عسگري، مرضيه كمالي

ايمان ايزدي

فريد شيخ الاسلام، مريم ذكري