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Model-Free Based Terminal SMC of Quadrotor Attitude and Position

Haoping Wang 1 Ye Xuefei 1 Yang Tian 1 Gang Zheng 2 Nicolai Christov 3
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : In this paper a Model-Free based Terminal Sliding-Mode Control (MFTSMC) strategy is developed to control the attitude and position of a quadrotor whose model includes parameter variations, uncertainties and external disturbances. The proposed MFTSMC combines a model-free control approach with a sliding-mode technique and makes possible to eliminate the tracking error in a finite time. To demonstrate the performance and effectiveness of the proposed MFTSMC, numerical simulation results have been obtained and compared with corresponding results for PID, backstepping and sliding-mode controls.
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https://hal.inria.fr/hal-01410899
Contributor : Gang Zheng Connect in order to contact the contributor
Submitted on : Tuesday, December 6, 2016 - 6:14:59 PM
Last modification on : Friday, August 13, 2021 - 1:37:40 PM

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Haoping Wang, Ye Xuefei, Yang Tian, Gang Zheng, Nicolai Christov. Model-Free Based Terminal SMC of Quadrotor Attitude and Position. IEEE Transactions on Aerospace and Electronic Systems, Institute of Electrical and Electronics Engineers, 2016, 52 (5), pp.2519 - 2528. ⟨10.1109/TAES.2016.150303⟩. ⟨hal-01410899⟩

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