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Journal ArticleDOI

Finite-Time Control of a Quadrotor System

01 Jan 2014-IFAC Proceedings Volumes (Elsevier)-Vol. 47, Iss: 1, pp 643-647
TL;DR: In this paper, the authors deal with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovský canonical form.
About: This article is published in IFAC Proceedings Volumes.The article was published on 2014-01-01. It has received 2 citations till now.
Citations
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Proceedings ArticleDOI
01 Jun 2017
TL;DR: In this article, the authors proposed a robust output regulation for a set of quad-rotors forming a geometric pattern, which is composed of cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding quad-Rotors positions.
Abstract: This paper deals with the problem of robust output regulation for a set of Quad-Rotors forming a geometric pattern. The proposed control strategy is based on sliding- modes techniques, and it is able to robustly regulate the corresponding Quad-Rotors positions and angles in the presence of some class of disturbances acting on the Quad-Rotors. The proposed regulation is composed by cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding Quad-Rotors positions. Simulation results illustrate the feasibility of the proposed strategy.

6 citations


Cites methods from "Finite-Time Control of a Quadrotor ..."

  • ...Taking into account the QuadRotor model linearization, in [15] a finite-time controller is designed to stabilize the origin of this system....

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Proceedings ArticleDOI
09 Jul 2018
TL;DR: The proposed control strategy provides uniform finite-time stability and uniform exponential stability for the corresponding tracking and formation errors and is composed of cascaded continuous sliding-modes controllers (SMCs).
Abstract: In this paper the problem of motion coordination for a multi-agent system composed of a group of Quad-Rotors, under the leader-follower scheme, is addressed The proposed control strategy is considered as a decentralized scheme and is composed of cascaded continuous sliding-modes controllers (SMCs) By means of this approach, the Quad-Rotors are able to robustly form a geometric pattern in order to track a desired trajectory despite the presence of bounded unknown inputs The proposed control strategy provides uniform finite-time stability and uniform exponential stability for the corresponding tracking and formation errors Numerical simulations illustrate the performance of the proposed control strategy

1 citations


Cites background or methods from "Finite-Time Control of a Quadrotor ..."

  • ...For a complete model of the QuadRotor, the reader is referred to [8], [19], [23] and [25]....

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  • ...Taking into account a Quad-Rotor model linearization, in [23] a finitetime controller is designed to stabilize the origin of this system....

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  • ...From this point of view, works that have applied the finite-time convergence features to control a Quad-Rotor, can be found in [2], [8], [14] and [23]....

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  • ...Recall that [2], [8], [14] and [23] only considers the control of a single Quad-Rotor....

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References
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Journal ArticleDOI
TL;DR: A terminal sliding mode control law is obtained for the linearized model of the TRMS system by transforming it to the Brunovsky canonical form and is shown to be stable to disturbances in pitch and yaw.

11 citations