USDE-Based Continuous Sliding Mode Control for Quadrotor Attitude Regulation: Method and Application
نویسندگان
چکیده
منابع مشابه
Adaptive Sliding Backstepping Control of Quadrotor UAV Attitude
This paper proposes an adaptive sliding backstepping control law for quadcopter attitude control. By employing adaptive elements in the sliding mode control formulation the proposed control law avoids a priori knowledge of the upper bounds on the uncertainty. The controller we propose can be used for systems that are in strict feedback form with matched uncertainties. Numerical simulations show...
متن کاملObserver Based Sliding Mode Attitude Control: Theoretical and Experimental Results
In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically stable in the sense of Lyapunov. Due to cases where spacecraft do not have angular velocity measurements, an estimator for the generalized velocity is derived and asymptotic stab...
متن کاملControl of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear Hâ
In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملComparison of Quadrotor Performance Using Backstepping and Sliding Mode Control
A quadrotor is nonlinear, coupled and unstable system. Two control schemes, namely backstepping and sliding mode, have been applied to obtain desired trajectory tracking by quadrotor. This paper presents the comparative performance results of quadrotor under two control schemes.
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 Access
سال: 2021
ISSN: 2169-3536
DOI: 10.1109/access.2021.3076076