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

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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

1 Cita (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2018 15th International Workshop on Variable Structure Systems, VSS 2018
EditorialIEEE Computer Society
Páginas390-395
Número de páginas6
ISBN (versión impresa)9781538664391
DOI
EstadoPublicada - 10 sep 2018
Evento15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria
Duración: 9 jul 201811 jul 2018

Serie de la publicación

NombreProceedings of IEEE International Workshop on Variable Structure Systems
Volumen2018-July
ISSN (versión impresa)2165-4816
ISSN (versión digital)2165-4824

Conferencia

Conferencia15th International Workshop on Variable Structure Systems, VSS 2018
País/TerritorioAustria
CiudadGraz
Período9/07/1811/07/18

Nota bibliográfica

Publisher Copyright:
© 2018 IEEE.

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