Attractive Ellipsoid-Based Robust Control for Quadrotor Tracking

被引：11

作者：

Falcon, Romeo ^{[1
]}

Rios, Hector ^{[1
,2
]}

Mera, Manuel ^{[3
,4
]}

Dzul, Alejandro ^{[1
]}

机构：

[1] Tecnol Nacl Mexico IT La Laguna, Div Estudios Posgrad & Invest, Torreon 27000, Mexico

[2] Catedras CONACYT, Av Insurgentes Sur 1582, Ciudad De Mexico 03940, Mexico

[3] Inst Politecn Nacl, ESIME, Ciudad De Mexico 07340, Mexico

[4] Inst Politecn Nacl, UPIBI, Ciudad De Mexico 07340, Mexico

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2020年 / 67卷 / 09期

关键词：

Observers; Uncertainty; Robust control; Ellipsoids; Rotors; Perturbation methods; Position measurement; Quadrotor; robust output-based control; sliding-mode observers; SLIDING-MODE CONTROL; DESIGN; STABILITY; OBSERVER; LOAD;

D O I：

10.1109/TIE.2019.2942546

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article deals with the tracking control problem for a quadrotor in the presence of external disturbances and only by means of the measurable positions and angles. To this aim, a constructive output-based robust control approach is designed based on the sliding-mode observation theory, for state estimation and the attractive ellipsoid method, for control design. The closed-loop robust stability is proven through Lyapunov methods. The synthesis of the robust output-based control approach is expressed in terms of linear matrix inequalities. Experimental results on the QBall2 platform by Quanser illustrate the feasibility of the proposed approach.

引用

页码：7851 / 7860

页数：10

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