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

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

doi:10.1109/VSS.2018.8460391

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

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
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	https://doi.org/10.1109/VSS.2018.8460391
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
Volume	2018-July
ISSN (Print)	2165-4816
ISSN (Electronic)	2165-4824

Conference

Conference	15th International Workshop on Variable Structure Systems, VSS 2018
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

Access to Document

10.1109/VSS.2018.8460391

Cite this

Falcon, R., Gonzalez, O. A., Rios, H., & Dzul, A. (2018). Quad-Rotor Robust Tracking: A Continuous Sliding-Mode Control Strategy. In 2018 15th International Workshop on Variable Structure Systems, VSS 2018 (pp. 390-395). Article 8460391 (Proceedings of IEEE International Workshop on Variable Structure Systems; Vol. 2018-July). IEEE Computer Society. https://doi.org/10.1109/VSS.2018.8460391

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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.",

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Falcon, R, Gonzalez, OA, Rios, H & Dzul, A 2018, Quad-Rotor Robust Tracking: A Continuous Sliding-Mode Control Strategy. in 2018 15th International Workshop on Variable Structure Systems, VSS 2018., 8460391, Proceedings of IEEE International Workshop on Variable Structure Systems, vol. 2018-July, IEEE Computer Society, pp. 390-395, 15th International Workshop on Variable Structure Systems, VSS 2018, Graz, Austria, 9/07/18. https://doi.org/10.1109/VSS.2018.8460391

Quad-Rotor Robust Tracking: A Continuous Sliding-Mode Control Strategy. / Falcon, Romeo; Gonzalez, Oscar A.; Rios, Hector et al.
2018 15th International Workshop on Variable Structure Systems, VSS 2018. IEEE Computer Society, 2018. p. 390-395 8460391 (Proceedings of IEEE International Workshop on Variable Structure Systems; Vol. 2018-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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