Journal ArticleDOI
Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances
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TLDR
Considering the underactuated and strongly coupled characteristics of quadrotor helicopter, a nonlinear control method by using integral backstepping combined with the sliding mode control (integral BS-SMC) was proposed in this paper.About:
This article is published in Aerospace Science and Technology.The article was published on 2017-09-01. It has received 221 citations till now. The article focuses on the topics: Sliding mode control & Backstepping.read more
Citations
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Journal ArticleDOI
Robust adaptive backstepping fast terminal sliding mode controller for uncertain quadrotor UAV
Moussa Labbadi,Mohamed Cherkaoui +1 more
TL;DR: A complete mathematical model of a quadrotor UAV is presented based on the Euler-Newton formulation and a robust nonlinear fast control structured for thequadrotor position and attitude trajectory tracking is designed.
Journal ArticleDOI
A novel control scheme for quadrotor UAV based upon active disturbance rejection control
TL;DR: The simulation results show that the control scheme proposed can ensure that the quadrotor track the target trajectory quickly and accurately while maintaining stability, even with external disturbances.
Journal ArticleDOI
Neural network-based adaptive sliding mode control design for position and attitude control of a quadrotor UAV
Hadi Razmi,Sima Afshinfar +1 more
TL;DR: It is concluded that the proposed controller provides the following main advantages: (1) good transient and steady state behaviors, (2) insensitivity to parameter variations, (3) disturbance rejection capability, and (4) remarkable stability and performance robustness.
Journal ArticleDOI
Robust adaptive nonsingular fast terminal sliding-mode tracking control for an uncertain quadrotor UAV subjected to disturbances
Moussa Labbadi,Mohamed Cherkaoui +1 more
TL;DR: A new robust nonlinear adaptive controller is proposed for orientation and translation tracking by using the Adaptive Nonsingular Fast Terminal Sliding-Mode Control (ANFTSMC) algorithms and shows clearly the outperformance of the proposed control scheme.
Journal ArticleDOI
Continuous Sliding-Mode Control Strategies for Quadrotor Robust Tracking: Real-Time Application
TL;DR: This paper proposes a robust tracking output-control strategy for a quadrotor under the influence of external disturbances and uncertainties that is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies some types of disturbances.
References
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Proceedings ArticleDOI
PID vs LQ control techniques applied to an indoor micro quadrotor
TL;DR: The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model.
Proceedings ArticleDOI
Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment
TL;DR: In this paper, a theoretical development is presented, and validated through both thrust test stand measurements and vehicle flight tests using the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) quadrotor helicopter.
Proceedings ArticleDOI
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
TL;DR: The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
Journal ArticleDOI
Attitude stabilization of a VTOL quadrotor aircraft
Abdelhamid Tayebi,S. McGilvray +1 more
TL;DR: A new quaternion-based feedback control scheme for exponential attitude stabilization of a four-rotor vertical takeoff and landing aerial robot known as a quadrotor aircraft is proposed and the model-independent PD controller, without compensation of the Coriolis and gyroscopic torques, provides asymptotic stability for the problem.
Proceedings ArticleDOI
Design and control of an indoor micro quadrotor
TL;DR: The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.