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.
Model-free–based terminal SMC of quadrotor attitude and position
IEEE Transactions on Aerospace and Electronic Systems ; 52 , 5 ; 2519-2528
2016-10-01
2287031 byte
Article (Journal)
Electronic Resource
English
Model predictive quadrotor control : attitude, altitude, and position experimental studies
BASE | 2012
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