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.
|Title of host publication||2018 15th International Workshop on Variable Structure Systems, VSS 2018|
|Publisher||IEEE Computer Society|
|Number of pages||6|
|State||Published - 10 Sep 2018|
|Event||15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria|
Duration: 9 Jul 2018 → 11 Jul 2018
|Name||Proceedings of IEEE International Workshop on Variable Structure Systems|
|Conference||15th International Workshop on Variable Structure Systems, VSS 2018|
|Period||9/07/18 → 11/07/18|
Bibliographical noteFunding Information:
‡CONACYT-TECNM/Instituto Tecnológico de La Laguna, División de Estudios de Posgrado e Investigación, Blvd. Revolución y Cuauhtémoc S/N, C.P. 27000, Torreón, Coahuila, México. Email: email@example.com The authors thank the financial support from CONACYT 270504, 785635, 817174, project 134534 and from TECNM projects.
- Continuous Sliding-Mode Control
- Robust Output-Control