A backstepping-based controller that induces integral sliding modes for underactuated lightweight quadrotors is presented for the Newton-Euler dynamic model subject to smooth bounded disturbances, including wind gust and sideslip aerodynamics, as well as dissipative drag in position and orientation dynamics. The chattering-free sliding mode compensates for persistent or intermittent, and possible time-varying, state dependant disturbances. The closed-loop dynamics rejects such disturbances with a chattering-free control effort showing a robust position tracking, possibly with reduced information of the dynamic model. Representative simulations are presented and discussed.


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    Titel :

    Integral sliding mode backstepping control of quadrotors for robust position tracking


    Beteiligte:
    Ramirez-Rodriguez, H. (Autor:in) / Parra-Vega, V. (Autor:in) / Sanchez, A. (Autor:in) / Garcia, O. (Autor:in)


    Erscheinungsdatum :

    2013-05-01


    Format / Umfang :

    559454 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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