Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

被引：43

作者：

Falcon, Romeo ^{[1
]}

Rios, Hector ^{[2
]}

Dzul, Alejandro ^{[1
]}

机构：

[1] Tecnol Nacl Mexico IT La Laguna, Div Estudios Posgrad & Invest, Blvd Revoluc & Cuauhtemoc S-N, Torreon 27000, Coahuila, Mexico

[2] CONACYT Tecnol Nacl Mexico IT La Laguna, Div Estudios Posgrad & Invest, Blvd Revoluc & Cuauhtemoc S-N, Torreon 27000, Coahuila, Mexico

来源：

CONTROL ENGINEERING PRACTICE | 2019年 / 90卷

关键词：

Robust output-based control; Quad-rotor; Continuous sliding-mode control; ADAPTIVE-CONTROL; DESIGN; ORDER; LINEARIZATION; HELICOPTER; OBSERVER; VEHICLE; LOAD; UAV;

D O I：

10.1016/j.conengprac.2019.06.013

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 paper presents a comparative analysis involving four Continuous Sliding-Modes 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. Such an approach is composed of a Finite-Time Sliding-Mode Observer (FT-SMO), which estimates the full state and identifies some type of disturbances, and a robust control strategy for underactuated systems. Several real-time experimental tests are carried out on the Quad-Rotor QBall2 platform by Quanser (c) under the influence of wind gusts and load disturbances. A quantitative comparison analysis is performed for all of the proposed controllers in order to illustrate their robustness properties.

引用

页码：241 / 256

页数：16

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