Figure 1.
The yaw motion control concept of the single ducted-fan UAV
Figure 2.
The proposed controller TDE-ISMC’s diagram
Figure 3.
Tracking the performance of trapezium wave type (a) reference
Figure 4.
Tracking the performance of trapezium wave type (b) reference
Figure 5.
Error of tracking the performance of trapezium wave type (a) reference
Figure 6.
Error of tracking the performance of trapezium wave type (b) reference
Figure 7.
Control signal input of four actuators of TDE-ISMC (type a)
Figure 8.
Control signal input of four actuators of SMC (type a)
Figure 9.
Control signal input of four actuators of TDE-ISMC (type b)
Figure 10.
Control signal input of four actuators of SMC (type b)
Figure 11.
Tracking the performance of sine wave type (c) reference
Figure 12.
Tracking the performance of sine wave type (d) reference
Figure 13.
Error of tracking the performance of sine wave type (c) reference
Figure 14.
Error of tracking the performance of sine wave type (d) reference
Figure 15.
Control signal input of four actuators of TDE-ISMC (type c)
Figure 16.
Control signal input of four actuators of SMC (type c)
Figure 17.
Control signal input of four actuators of TDE-ISMC (type d)
Figure 18.
Control signal input of four actuators of SMC (type d)