The design of robust tracking control for quadrotors is an important and challenging problem nowadays. In this paper, a robust tracking output-control strategy is proposed for a quadrotor under the influence of external disturbances and uncertainties. Such a strategy is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies some types of disturbances. It is also composed of a combination of PID controllers and continuous sliding-modes controllers that robustly track a desired time-varying trajectory with exponential convergence despite the influence of external disturbances and uncertainties. The closed-loop stability is provided based on the input-to-state stability (ISS) and finite-time ISS properties. Finally, experimental results in real time show the performance of the proposed control strategy.
Bibliographical noteFunding Information:
Manuscript received September 5, 2017; revised January 22, 2018 and March 7, 2018; accepted April 12, 2018. Date of publication April 27, 2018; date of current version September 28, 2018. This work was supported in part by CONACYT 270504, 785635, 817174, and Project 134534, and in part by TECNM projects. (Corresponding author: Héctor Ríos.) H. Ríos is with CONACYT-TECNM/Instituto Tecnológico de La Laguna, División de Estudios de Posgrado e Investigación, Torreón 27000, México (e-mail: firstname.lastname@example.org).
- Continuous sliding-mode control (SMC)
- robust output control