Design and robustness analysis of a sliding mode control for a quadrotor

Abstract:

The aim of this paper is to design a slide mode control based on a PD Surface obtained from a PD controller. A PD Slide mode control was considered for taking off and landing an unnamed aerial vehicle. This proposal is intended to offer a certain degree of robustness to the controller against system disturbances and uncertainties of parameters. In addition is presented a robustness and performance analysis for tracking and regulation.

Año de publicación:

2018

Keywords:

• robustness
• Slide mode control
• Nonlinear control
• UAVs

Fuente:

scopus