Continuous Sliding-Mode Control Strategies for Quadrotor Robust Tracking: Real-Time Application

被引：189

作者：

Rios, Hector ^{[1
]}

Falcon, Romeo ^{[2
]}

Gonzalez, Oscar A. ^{[2
]}

Dzul, Alejandro ^{[2
]}

机构：

[1] CONACYT TECNM Inst Technol La Laguna, Div Estudios Posgrad & Invest, Torreon 27000, Mexico

[2] TECNM Inst Technol La Laguna, Div Estudios Posgrad & Invest, Torreon 27000, Mexico

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2019年 / 66卷 / 02期

关键词：

Continuous sliding-mode control (SMC); quadrotor; robust output control; QUAD-ROTOR; ATTITUDE; DESIGN; HELICOPTER; ALGORITHM; ALTITUDE; INPUT; UAV;

D O I：

10.1109/TIE.2018.2831191

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The design of robust tracking control for quadrotors is an important and challenging problem nowadays. In this paper, a robust tracking output-control strategy is proposed for a quadrotor under the influence of external disturbances and uncertainties. Such a strategy is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies some types of disturbances. It is also composed of a combination of PID controllers and continuous sliding-modes controllers that robustly track a desired time-varying trajectory with exponential convergence despite the influence of external disturbances and uncertainties. The closed-loop stability is provided based on the input-to-state stability (ISS) and finite-time ISS properties. Finally, experimental results in real time show the performance of the proposed control strategy.

引用

页码：1264 / 1272

页数：9

共 50 条

[31] Real-time control of an automated guided vehicle using a continuous mode of sliding mode control [J].

Soysal, Birol .

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, 2014, 22 (05) :1298-1306

[32] Quasi-Continuous MIMO Sliding-Mode Control [J].

Levant, Arie ;

Shustin, Boris .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2018, 63 (09) :3068-3074

[33] Robust state estimation of a quadrotor based on high-gain and sliding-mode observers [J].

Miladi, Nadia ;

Dimassi, Habib ;

Said, Salim Hadj ;

M'Sahli, Faouzi .

2018 15TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES (SSD), 2018, :1166-1171

[34] Robust adaptive recursive sliding mode attitude control for a quadrotor with unknown disturbances [J].

Chen, Lulu ;

Liu, Zhenbao ;

Gao, Honggang ;

Wang, Guodong .

ISA TRANSACTIONS, 2022, 122 :114-125

[35] Quad-Rotor robust time-varying formation control: a Continuous Sliding-Mode Control approach [J].

Gonzalez-Sierra, Jaime ;

Rios, Hector ;

Dzul, Alejandro .

INTERNATIONAL JOURNAL OF CONTROL, 2020, 93 (07) :1659-1676

[36] Quadrotor sliding mode control based on predefined time [J].

Liu H. ;

Huang S. ;

Tu H. .

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2024, 50 (05) :1665-1674

[37] Backstepping Sliding-Mode and Cascade Active Disturbance Rejection Control for a Quadrotor UAV [J].

Xu, Lin-Xing ;

Ma, Hong-Jun ;

Guo, Dong ;

Xie, An-Huan ;

Song, Da-Lei .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2020, 25 (06) :2743-2753

[38] Modeling and sliding mode-based attitude tracking control of a quadrotor UAV with time-varying mass [J].

Wu, Xiwei ;

Xiao, Bing ;

Qu, Yaohong .

ISA TRANSACTIONS, 2022, 124 :436-443

[39] Robust Wavelet Sliding-Mode Control via Time-Variant Sliding Function [J].

Yarahmadi, Majid ;

Karbassi, Seyed-Mehdi ;

Mirzaei, Ahmad .

IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, 2010, E93A (06) :1181-1189

[40] Robust Control for an Active Suspension System via Continuous Sliding-Mode Controllers [J].

Ovalle, Luis ;

Rios, Hector ;

Ahmed, Hafiz .

ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH, 2022, 28

← 1 2 3 4 5 →