کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4975861 1365593 2012 21 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robust block second order sliding mode control for a quadrotor
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر پردازش سیگنال
پیش نمایش صفحه اول مقاله
Robust block second order sliding mode control for a quadrotor
چکیده انگلیسی
This paper presents the design of a controller based on the block control technique combined with the super twisting control algorithm for trajectory tracking of a quadrotor helicopter. A first order exact differentiator is used in order to estimate the virtual control inputs, which simplifies the control law design. In addition, the wind parameter resulting from the aerodynamic forces is also estimated in order to ensure robustness against these unmatched perturbations. The stability and finite time convergence of the exact differentiator have been recently proved by means of Lyapunov functions, and therefore the stability analysis of the proposed controller has been carried out along the same lines. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of the Franklin Institute - Volume 349, Issue 2, March 2012, Pages 719-739
نویسندگان
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