A backstepping-based controller that induces integral sliding modes for underactuated lightweight quadrotors is presented for the Newton-Euler dynamic model subject to smooth bounded disturbances, including wind gust and sideslip aerodynamics, as well as dissipative drag in position and orientation dynamics. The chattering-free sliding mode compensates for persistent or intermittent, and possible time-varying, state dependant disturbances. The closed-loop dynamics rejects such disturbances with a chattering-free control effort showing a robust position tracking, possibly with reduced information of the dynamic model. Representative simulations are presented and discussed.
Integral sliding mode backstepping control of quadrotors for robust position tracking
01.05.2013
559454 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Dynamic Neural Network-Based Robust Backstepping Control approach for Quadrotors
British Library Conference Proceedings | 2008
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