Quadrotor Aggressive Deployment, Using a Quaternion-Based Spherical Chattering-Free Sliding-Mode Controller
نویسندگان
چکیده
منابع مشابه
Chattering free full-order sliding-mode control
In conventional sliding-mode control systems, the sliding-mode motion is of reduced order. Two main problems hindering the application of the sliding-mode control are the singularity in terminal slidingmode control systems and the chattering in both the conventional linear sliding-mode and the terminal sliding-mode control systems. This paper proposes a chattering-free full-order terminal-slidi...
متن کاملRobust Chattering Free Backstepping Sliding Mode Control Strategy for Autonomous Quadrotor Helicopter
Abstract— In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by ...
متن کاملDynamic Output Feedback Sliding Mode Controller Design for Chattering Avoidance
For a class of linear MIMO uncertain systems, a dynamic output feedback sliding mode control algorithm that avoids the chattering problem and high gain control is proposed in this paper. Without using any differentiator, we develop a modified asymptotically stable second order sliding mode control law in which the developed controller can guarantee the finite time convergence to the sliding mod...
متن کاملfree chattering fuzzy sliding mode controllers to robotic tracking problem
sliding mode control (smc) is a powerful approach to solve the tracking problem for dynamical systems with uncertainties. however, the traditional smcs introduce actuator chattering phenomenon which performs a desirable behavior in many physical systems such as servo control and robotic systems, particularly, when the zero steady state error is required. many methods have been proposed to el...
متن کاملDesign of integrated Guidance and control system in the pitch channel using observer based chattering free sliding mode theory
The design of integrated guidance and control system for flying objects is one of the research fields in the aerospace that is considered by researchers in recent years. Due to the nonlinearity of the kinematic and dynamic equations of the homing interceptors in the terminal phase and also existence of uncertainties such as target maneuvers, external disturbances and variations in aerodynamic c...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Aerospace and Electronic Systems
سال: 2020
ISSN: 0018-9251,1557-9603,2371-9877
DOI: 10.1109/taes.2019.2937663