In this paper, a model-free-based terminal sliding-mode control (MFTSMC) strategy is developed to control the attitude and position of a quadrotor whose model includes parameter variations, uncertainties, and external disturbances. The proposed MFTSMC combines a model-free control approach with a sliding-mode technique and makes possible to eliminate the tracking error in a finite time. To demonstrate the performance and effectiveness of the proposed MFTSMC, numerical simulation results have been obtained and compared with corresponding results for PID, backstepping and sliding-mode controls.


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    Titel :

    Model-free–based terminal SMC of quadrotor attitude and position


    Beteiligte:
    Haoping Wang, (Autor:in) / Xuefei Ye, (Autor:in) / Yang Tian, (Autor:in) / Gang Zheng, (Autor:in) / Christov, Nicolai (Autor:in)


    Erscheinungsdatum :

    2016-10-01


    Format / Umfang :

    2287031 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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