Robust tracking output-control for a quad-rotor: A continuous sliding-mode approach

Héctor Ríos, Jaime González-Sierra, Alejandro Dzul

Research output: Contribution to journalArticle

16 Scopus citations


© 2017 The Franklin Institute This paper deals with the problem of robust tracking output-control design for a Quad-Rotor. The proposed approach is based on continuous sliding-modes control (SMC) techniques and it is able to robustly track a desired trajectory for the Quad-Rotor despite some class of disturbances acting on the system. Such a robust tracking control is composed of a finite-time sliding-mode observer (SMO) and cascaded continuous SMCs providing uniform finite-time stability and uniform exponential stability, for the vertical and yaw tracking error, and for the horizontal tracking error, respectively; despite the disturbances on the system, and only using the measurable positions and angles. Simulation results illustrate the feasibility of the proposed tracking strategy.
Original languageAmerican English
Pages (from-to)6672-6691
Number of pages20
JournalJournal of the Franklin Institute
StatePublished - 1 Oct 2017
Externally publishedYes

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