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

被引：205

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

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