Mohammadreza R. Mokhtari

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This paper presents a new robust control based on finite-time Lyapunov stability controller and proved with backstepping method for the position and the attitude of a small rotorcraft unmanned aerial vehicle subjected to bounded uncertainties and disturbances. The dynamical motion equations are obtained by the Newton-Euler formalism. The proposed controller(More)
This paper presents a nonlinear control based on sliding mode control (SMC) for the position and the attitude tracking control of a small coaxial-rotor UAV subjected to uncertainties and aerodynamic disturbances. The dynamical motion equations are obtained through the Newton-Euler formalism. Firstly, the dynamical model is divided into a fully actuated(More)
This paper propose an hierarchical controller based on a new disturbance observer with finite time convergence (FTDO) to solve the path tracking of a small coaxial-rotor-typs Unmanned Aerial Vehicles (UAVs) despite of unknown aerodynamic efforts. The hierarchical control technique is used to separate the flight control problem into an inner loop that(More)
This paper proposes a new robust control based on a modified finite time algorithm for the attitude tracking of a quadrotor system to achieve a finite time convergence for all errors states. A complete version of the dynamical system based on Newton-Euler formalism is used. The stability of this algorithm is derived using a strong Lyapunov function(More)
This study explored perceived mental health-related needs and barriers to meeting them in primary and mental health care settings. Fifty-one participants completed the Perceived Need for Care Questionnaire and an interview to qualitatively explore the meanings behind self-identified needs for medication, information, counselling, practical help, and skills(More)
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