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

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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 languageEnglish
Title of host publication2018 15th International Workshop on Variable Structure Systems, VSS 2018
PublisherIEEE Computer Society
Pages390-395
Number of pages6
ISBN (Print)9781538664391
DOIs
StatePublished - 10 Sep 2018
Externally publishedYes
Event15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria
Duration: 9 Jul 201811 Jul 2018

Publication series

NameProceedings of IEEE International Workshop on Variable Structure Systems
Volume2018-July
ISSN (Print)2165-4816
ISSN (Electronic)2165-4824

Conference

Conference15th International Workshop on Variable Structure Systems, VSS 2018
CountryAustria
CityGraz
Period9/07/1811/07/18

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.

Keywords

  • Continuous Sliding-Mode Control
  • Quad-Rotor
  • Robust Output-Control

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