This paper addresses the stability and tracking control problem of quadrotor unmanned flying vehicle (UAV) in the presence of uncertainty. Adaptive autonomous sliding mode tracking system is designed by combining robust and adaptive control theory. Lyapunov analysis shows that the proposed algorithms can guarantee asymptotic convergence of the tracking error of the linear and angular motion dynamics of the vehicle. Compared with other existing adaptive backstepping design, the proposed method is very simple and easy to implement on an actual system as it does not require multiple design steps without augmented signals and a priori known bound of the uncertainty. To illustrate the theoretical argument, evaluation results on custom made quadrotor UAV system are presented for real-time applications.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive sliding mode control design for quadrotor unmanned aerial vehicle


    Beteiligte:
    Islam, S. (Autor:in) / Faraz, M. (Autor:in) / Ashour, R. K. (Autor:in) / Cai, G. (Autor:in) / Dias, J. (Autor:in) / Seneviratne, L. (Autor:in)


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    675497 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Terminal sliding mode attitude-position quaternion based control of quadrotor unmanned aerial vehicle

    Serrano, Fernando / Castillo, Oscar / Alassafi, Madini et al. | Elsevier | 2023


    Tracking Control Design for Quadrotor Unmanned Aerial Vehicle

    Nadda, Sudhir / Swarup, A. | BASE | 2017

    Freier Zugriff


    Turnable quadrotor unmanned aerial vehicle

    TIAN HAOYANG / LIANG WENXIANG / CHEN WENJUAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff