Journal ArticleDOI
Robust tracking output-control for a quad-rotor: A continuous sliding-mode approach
Reads0
Chats0
TLDR
The proposed approach is based on continuous sliding-modes control techniques and it is able to robustly track a desired trajectory for the Quad-Rotor despite some class of disturbances acting on the system.Abstract:
This paper deals with the problem of robust tracking output-control design for a Quad-Rotor. The proposed approach is based on continuous sliding-modes control (SMC) techniques and it is able to robustly track a desired trajectory for the Quad-Rotor despite some class of disturbances acting on the system. Such a robust tracking control is composed of a finite-time sliding-mode observer (SMO) and cascaded continuous SMCs providing uniform finite-time stability and uniform exponential stability, for the vertical and yaw tracking error, and for the horizontal tracking error, respectively; despite the disturbances on the system, and only using the measurable positions and angles. Simulation results illustrate the feasibility of the proposed tracking strategy.read more
Citations
More filters
Journal ArticleDOI
Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties.
Omid Mofid,Saleh Mobayen +1 more
TL;DR: A design technique of adaptive sliding mode control for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties is offered and simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.
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.
Journal ArticleDOI
Quadcopter Robust Adaptive Second Order Sliding Mode Control Based on PID Sliding Surface
TL;DR: A robust adaptive second-order sliding mode controller that rejects external disturbances and uncertainties to improve the tracking performance of attitude and altitude in a quadcopter based on a Proportional–Integral–Derivative sliding surface is presented.
Journal ArticleDOI
Robust path tracking of a quadrotor using adaptive fuzzy terminal sliding mode control
TL;DR: A new robust flight control system consisted of an adaptive fuzzy terminal sliding mode controller, and two proportional-derivative controllers are proposed to stabilize a quadrotor and to track a pre-defined flight path in the presence of external disturbances and model uncertainties.
Journal ArticleDOI
Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking
TL;DR: In this paper, a comparative analysis involving four continuous sliding-mode control (Continuous-SMC) algorithms and a robustified PID control for a Quad-Rotor that can be used to deal with the tracking problem under the influence of external disturbances and uncertainties only by means of the measurable positions and angles is presented.
References
More filters
Journal ArticleDOI
Higher-order sliding modes, differentiation and output-feedback control
TL;DR: In this article, the authors proposed arbitrary-order robust exact differentiators with finite-time convergence, which can be used to keep accurate a given constraint and feature theoretically-infinite-frequency switching.
Journal ArticleDOI
Nonlinear Feedback Design for Fixed-Time Stabilization of Linear Control Systems
TL;DR: Two types of nonlinear control algorithms are presented for uncertain linear plants, stabilizing polynomial feedbacks that allow to adjust a guaranteed convergence time of system trajectories into a prespecified neighborhood of the origin independently on initial conditions.
Journal ArticleDOI
An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter
TL;DR: An integral predictive and nonlinear robust control strategy to solve the path following problem for a quadrotor helicopter with parametric and structural uncertainties presented to corroborate the effectiveness and the robustness of the proposed strategy.
Journal ArticleDOI
Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations
TL;DR: The adaptive controller is found to offer increased robustness to parametric uncertainties and be effective in mitigating the effects of a loss-of-thrust anomaly, which may occur due to component failure or physical damage.
Journal ArticleDOI
Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer
TL;DR: The recently developed sliding mode control driven by sliding mode disturbance observer (SMC-SMDO) approach is used to design a robust flight controller for a small quadrotor vehicle to demonstrate the robustness of the control when faced with external disturbances.
Related Papers (5)
Second order sliding mode control for a quadrotor UAV.
Global fast dynamic terminal sliding mode control for a quadrotor UAV
Jing-Jing Xiong,Guo-Bao Zhang +1 more