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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    Title :

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


    Contributors:
    Haoping Wang, (author) / Xuefei Ye, (author) / Yang Tian, (author) / Gang Zheng, (author) / Christov, Nicolai (author)


    Publication date :

    2016-10-01


    Size :

    2287031 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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