Model-Free Based Terminal SMC of Quadrotor Attitude and Position

Haoping Wang 1 Ye Xuefei 1 Yang Tian 1 Gang Zheng 2, 3 Nicolai Christov 4
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
4 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - 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
Type de document :
Article dans une revue
IEEE Transactions on Aerospace and Electronic Systems, Institute of Electrical and Electronics Engineers, 2016
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https://hal.inria.fr/hal-01410899
Contributeur : Gang Zheng <>
Soumis le : mardi 6 décembre 2016 - 18:14:59
Dernière modification le : mardi 3 juillet 2018 - 11:41:56

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  • HAL Id : hal-01410899, version 1

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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. 〈hal-01410899〉

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