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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión 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 original	Inglés
Título de la publicación alojada	2018 15th International Workshop on Variable Structure Systems, VSS 2018
Editorial	IEEE Computer Society
Páginas	390-395
Número de páginas	6
ISBN (versión impresa)	9781538664391
DOI	https://doi.org/10.1109/VSS.2018.8460391
Estado	Publicada - 10 set. 2018
Publicado de forma externa	Sí
Evento	15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria Duración: 9 jul. 2018 → 11 jul. 2018

Serie de la publicación

Nombre	Proceedings of IEEE International Workshop on Variable Structure Systems
Volumen	2018-July
ISSN (versión impresa)	2165-4816
ISSN (versión digital)	2165-4824

Conferencia

Conferencia	15th International Workshop on Variable Structure Systems, VSS 2018
País/Territorio	Austria
Ciudad	Graz
Período	9/07/18 → 11/07/18

Nota bibliográfica

Publisher Copyright:
© 2018 IEEE.

Acceder al documento

10.1109/VSS.2018.8460391

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

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

@inproceedings{f57c9b59d7d94a3398e4fc471ce976e2,

title = "Quad-Rotor Robust Tracking: A Continuous Sliding-Mode Control Strategy",

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.",

keywords = "Continuous Sliding-Mode Control, Quad-Rotor, Robust Output-Control",

author = "Romeo Falcon and Gonzalez, {Oscar A.} and Hector Rios and Alejandro Dzul",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 15th International Workshop on Variable Structure Systems, VSS 2018 ; Conference date: 09-07-2018 Through 11-07-2018",

year = "2018",

month = sep,

day = "10",

doi = "10.1109/VSS.2018.8460391",

language = "Ingl{\'e}s",

isbn = "9781538664391",

series = "Proceedings of IEEE International Workshop on Variable Structure Systems",

publisher = "IEEE Computer Society",

pages = "390--395",

booktitle = "2018 15th International Workshop on Variable Structure Systems, VSS 2018",

address = "Estados Unidos",

}

Falcon, R, Gonzalez, OA, Rios, H & Dzul, A 2018, Quad-Rotor Robust Tracking: A Continuous Sliding-Mode Control Strategy. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

TY - GEN

T1 - Quad-Rotor Robust Tracking

T2 - 15th International Workshop on Variable Structure Systems, VSS 2018

AU - Falcon, Romeo

AU - Gonzalez, Oscar A.

AU - Rios, Hector

AU - Dzul, Alejandro

PY - 2018/9/10

Y1 - 2018/9/10

N2 - 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.

AB - 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.

KW - Continuous Sliding-Mode Control

KW - Quad-Rotor

KW - Robust Output-Control

UR - http://www.scopus.com/inward/record.url?scp=85054062185&partnerID=8YFLogxK

U2 - 10.1109/VSS.2018.8460391

DO - 10.1109/VSS.2018.8460391

M3 - Contribución a la conferencia

AN - SCOPUS:85054062185

SN - 9781538664391

T3 - Proceedings of IEEE International Workshop on Variable Structure Systems

SP - 390

EP - 395

BT - 2018 15th International Workshop on Variable Structure Systems, VSS 2018

PB - IEEE Computer Society

Y2 - 9 July 2018 through 11 July 2018

ER -

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

Resumen

Serie de la publicación

Conferencia

Nota bibliográfica

Acceder al documento

Otros archivos y enlaces

Huella

Citar esto