© 2018 IEEE. This paper deals with the tracking control problem for a Quad-Rotor in the presence of external disturbances and only by means of the measurable positions and angles. To this aims, a constructive output-based robust control is designed based on: 1) sliding-mode observation theory, for state estimation; and 2) the attractive ellipsoid method, for control design. The closed-loop robust stability is proven through Lyapunov methods. The synthesis of the robust output-based control is expressed in terms of Linear Matrix Inequalities. Simulation results illustrate the feasibility of the proposed approach.
|Original language||American English|
|State||Published - 12 Apr 2019|
|Event||2018 20th Congreso Mexicano de Robotica, COMRob 2018 - |
Duration: 12 Apr 2019 → …
|Conference||2018 20th Congreso Mexicano de Robotica, COMRob 2018|
|Period||12/04/19 → …|
Falcon, R., Rios, H., Mera, M., & Dzul, A. (2019). Output-based Robust Control for Quad-Rotor Tracking: An Attractive Ellipsoid Approach. Paper presented at 2018 20th Congreso Mexicano de Robotica, COMRob 2018, . https://doi.org/10.1109/COMROB.2018.8689123