Quad-Rotor Robust Tracking: A Continuous Sliding-Mode Control Strategy

Romeo Falcon, Oscar A. Gonzalez, Hector Rios, Alejandro Dzul

Research output: Contribution to conferencePaper

Abstract

© 2018 IEEE. The design of robust tracking control for Quad-Rotors is an important and challenging problem nowadays. In this paper a robust tracking output-control strategy is proposed for a Quad-Rotor under the influence of external disturbances and uncertainties. Such a strategy is composed of a Finite-Time Sliding-Mode Observer (FT-SMO) which estimates the full state from the measurable output and identifies some type of disturbances; and also of a combination between PID controllers and a Continuous Sliding-Modes Controller (Continuous-SMC), that exponentially robustly track a desired time-varying trajectory and despite the influence of external disturbances and uncertainties. The closed-loop stability is provided based on Input-to-State Stability (ISS) and Finite-Time ISS (FT-ISS) properties. Finally, some experimental results in real-time show the performance of the proposed control strategy.
Original languageAmerican English
Pages390-395
Number of pages6
DOIs
StatePublished - 10 Sep 2018
Externally publishedYes
EventProceedings of IEEE International Workshop on Variable Structure Systems -
Duration: 10 Sep 2018 → …

Conference

ConferenceProceedings of IEEE International Workshop on Variable Structure Systems
Period10/09/18 → …

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  • Cite this

    Falcon, R., Gonzalez, O. A., Rios, H., & Dzul, A. (2018). Quad-Rotor Robust Tracking: A Continuous Sliding-Mode Control Strategy. 390-395. Paper presented at Proceedings of IEEE International Workshop on Variable Structure Systems, . https://doi.org/10.1109/VSS.2018.8460391