Abstract
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 language | English |
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Title of host publication | 2018 15th International Workshop on Variable Structure Systems, VSS 2018 |
Publisher | IEEE Computer Society |
Pages | 390-395 |
Number of pages | 6 |
ISBN (Print) | 9781538664391 |
DOIs | |
State | Published - 10 Sep 2018 |
Event | 15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria Duration: 9 Jul 2018 → 11 Jul 2018 |
Publication series
Name | Proceedings of IEEE International Workshop on Variable Structure Systems |
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Volume | 2018-July |
ISSN (Print) | 2165-4816 |
ISSN (Electronic) | 2165-4824 |
Conference
Conference | 15th International Workshop on Variable Structure Systems, VSS 2018 |
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Country/Territory | Austria |
City | Graz |
Period | 9/07/18 → 11/07/18 |
Bibliographical note
Funding 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: hriosb@correo.itlalaguna.edu.mx The authors thank the financial support from CONACYT 270504, 785635, 817174, project 134534 and from TECNM projects.
Publisher Copyright:
© 2018 IEEE.
Keywords
- Continuous Sliding-Mode Control
- Quad-Rotor
- Robust Output-Control