Adaptive sliding mode control for quadrotor attitude stabilization and altitude trackingReportar como inadecuado




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1 ENAC - Ecole Nationale de l-Aviation Civile 2 LAAS-DISCO - Équipe DIagnostic, Supervision et COnduite LAAS - Laboratoire d-analyse et d-architecture des systèmes Toulouse

Abstract : Adaptive control algorithms are of interest in flight control systems design not only for their capability to improve performance and reliability but also for handling aerodynamic parameter uncertainties, external disturbances and modeling inaccuracies. In this paper, a direct adaptive sliding mode control is developed for the quadrotor attitude stabilization and altitude trajectory tracking. First, developed controller is applied without considering disturbances and parameter uncertainties. After, a centered white gaussian noise with some parameter uncertainties are added to the considered output vector, mass and inertia matrix, respectively. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Numerical simulations are performed showing the robustness of the proposed control technique.

Keywords : sliding mode positivity principle feedback linearization adaptive control adaptation mechanism





Autor: Hakim Bouadi - Sebastião Simoes Cunha - Antoine Drouin - Felix Antonio Claudio Mora-Camino -

Fuente: https://hal.archives-ouvertes.fr/



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