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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    Title :

    Integral sliding mode backstepping control of quadrotors for robust position tracking


    Contributors:


    Publication date :

    2013-05-01


    Size :

    559454 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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