Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor
نویسندگان
چکیده
In this paper, we presented a strategy for accurate trajectory tracking control of quadrotor with unknown disturbances. To guarantee that the errors all system state variables converge to zero in finite time and eliminate chattering phenomenon caused by switching action, combines linear prediction model disturbances fuzzy sliding mode (SMC) based on logical framework side conditions (LFSC) was designed. LFSC applied both position attitude quadrotor. Firstly, method devised minimize effects external Secondly, new law implemented phenomenon. addition, stabilities were demonstrated using Lyapunov theory, respectively. Simulation results comprehensive comparisons superior performance robustness proposed scheme case
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2021
ISSN: ['1026-7077', '1563-5147', '1024-123X']
DOI: https://doi.org/10.1155/2021/6623471