Continuous Sliding-Mode Control Strategies for Quadrotor Robust Tracking: Real-Time Application

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

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

64 Citas (Scopus)

Resumen

The design of robust tracking control for quadrotors is an important and challenging problem nowadays. In this paper, a robust tracking output-control strategy is proposed for a quadrotor under the influence of external disturbances and uncertainties. Such a strategy is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies some types of disturbances. It is also composed of a combination of PID controllers and continuous sliding-modes controllers that robustly track a desired time-varying trajectory with exponential convergence despite the influence of external disturbances and uncertainties. The closed-loop stability is provided based on the input-to-state stability (ISS) and finite-time ISS properties. Finally, experimental results in real time show the performance of the proposed control strategy.

Idioma originalInglés
Número de artículo8352057
Páginas (desde-hasta)1264-1272
Número de páginas9
PublicaciónIEEE Transactions on Industrial Electronics
Volumen66
N.º2
DOI
EstadoPublicada - feb 2019

Nota bibliográfica

Publisher Copyright:
© 1982-2012 IEEE.

Huella

Profundice en los temas de investigación de 'Continuous Sliding-Mode Control Strategies for Quadrotor Robust Tracking: Real-Time Application'. En conjunto forman una huella única.

Citar esto