Robust control with sliding mode for a quadrotor unmanned aerial vehicle

被引：0
|
作者：
Khelfi, Mohamed Faycal [1 ,2 ]
Kacimi, Abderrahmane [2 ]
机构：
[1] Univ Oran, RIIR Lab, Fac Sci, Oran, Algeria
[2] Univ Oran, Inst Maintain & Ind Safety, Oran, Algeria
来源：
2012 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2012年
关键词：
feedback linearization; matching and unmatching uncertainties; Sliding control; Unmanned aerial vehicles; LINEARIZABLE SYSTEMS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A robust control approach denoted sliding control of MIMO nonlinear system based on the output feedback linearization is developed to attenuate the parametric uncertainties. The scheme is dedicated to model of unmanned aerial vehicles (the quadrotor UAV). We assume that the model of the plant is not precise, due to nondeterministic knowledge of inertias parameters. Tracking control is used to stabilize the equilibrium of the system, while all the state supposed to be measurable. The analysis is based on tracking errors during transients and at the steady state, on performance, stability and robustness with respect to plant uncertainties. Simulation results are carried out.
引用
收藏
页码：886 / 892
页数：7
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