Flatness-based adaptive sliding mode tracking control for a quadrotor with disturbances

In this paper, a flatness-based adaptive sliding mode control strategy is presented to solve the trajectory tracking problem of a quadrotor. According to the differential flatness theory, the typical under-actuated quadrotor dynamics is transformed into a fully-actuated one. Based on this model, bac...

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Veröffentlicht in:Journal of the Franklin Institute Jg. 355; H. 14; S. 6300 - 6322
Hauptverfasser: Ma, Dailiang, Xia, Yuanqing, Shen, Ganghui, Jia, Zhiqiang, Li, Tianya
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elmsford Elsevier Ltd 01.09.2018
Elsevier Science Ltd
Schlagworte:
Adaptive control
Computer simulation
Disturbances
Dynamic stability
Feedback control systems
Flatness
Logic programming
Mode tracking
Programmable logic controllers
Prolog
Sliding mode control
State observers
Tracking control
Tracking problem
Trajectories
ISSN:0016-0032, 1879-2693, 0016-0032
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Zusammenfassung:In this paper, a flatness-based adaptive sliding mode control strategy is presented to solve the trajectory tracking problem of a quadrotor. According to the differential flatness theory, the typical under-actuated quadrotor dynamics is transformed into a fully-actuated one. Based on this model, backstepping sliding mode controllers are designed to solve the trajectory tracking problem. To improve the robustness to disturbances, extended state observers are applied as a feedforward compensation of disturbances. Moreover, considering the high-order dynamics and possible instability caused by large observer gains, the adaptive method is applied to compensate for the estimation error. The effectiveness of the proposed control scheme is verified in simulations.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2018.06.018