Name
Abstract | ||
|---|---|---|
This paper tackles the problem of trajectory tracking problem of a quadrotor. A sliding mode block control algorithm based on the super twisting algorithm using unit quaternion feedback is applied to the dynamic model of the quadrotor helicopter. The derivative of the virtual control inputs are obtained using exact first order differentiator, and the aerodynamic forces and moments acting on the quadrotor are estimated via a sliding mode observer to ensure robustness against external disturbances and model uncertainties. Moreover, a comparison of the computational complexity of the controller between the proposed control scheme and the one considering Euler angles is carried out. The stability proof showing the asymptotic stability of the proposed control scheme is presented. Simulations show the good performance of the proposed control scheme. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/SYSOSE.2015.7151938 | 2015 10th System of Systems Engineering Conference (SoSE) |
Keywords | Field | DocType |
quaternion-based trajectory tracking robust control,sliding mode block control algorithm,super-twisting algorithm,unit quaternion feedback,dynamic model,quadrotor helicopter,virtual control inputs,exact first-order differentiator,aerodynamic forces,aerodynamic moments,sliding mode observer,external disturbances,model uncertainties,computational complexity,Euler angles,asymptotic stability | Control theory,Computer science,Control theory,Differentiator,Quaternion,Euler angles,Robustness (computer science),Exponential stability,Robust control,Observer (quantum physics) | Conference |
Citations | PageRank | References |
1 | 0.48 | 6 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Carlos A. Arellano-Muro | 1 | 4 | 1.00 |
| Bernardino Castillo-Toledo | 2 | 266 | 31.01 |
| Alexander G. Loukianov | 3 | 316 | 47.55 |
| Luis F. Luque-Vega | 4 | 30 | 5.73 |
| Luis Enrique González Jiménez | 5 | 3 | 3.60 |