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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| Vydané v: | Journal of the Franklin Institute Ročník 355; číslo 14; s. 6300 - 6322 |
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| Hlavní autori: | , , , , |
| Médium: | Journal Article |
| Jazyk: | English |
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Elmsford
Elsevier Ltd
01.09.2018
Elsevier Science Ltd |
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| ISSN: | 0016-0032, 1879-2693, 0016-0032 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Shen, Ganghui Xia, Yuanqing Ma, Dailiang Li, Tianya Jia, Zhiqiang |
| Author_xml | – sequence: 1 givenname: Dailiang surname: Ma fullname: Ma, Dailiang email: madailiang92@gmail.com organization: School of Automation, Beijing Institute of Technology, Beijing, China – sequence: 2 givenname: Yuanqing surname: Xia fullname: Xia, Yuanqing email: xia_yuanqing@bit.edu.cn organization: School of Automation, Beijing Institute of Technology, Beijing, China – sequence: 3 givenname: Ganghui orcidid: 0000-0003-4134-5577 surname: Shen fullname: Shen, Ganghui email: hxyzsgh@gmail.com organization: School of Automation, Beijing Institute of Technology, Beijing, China – sequence: 4 givenname: Zhiqiang surname: Jia fullname: Jia, Zhiqiang email: chrisjia82@163.com organization: School of Automation, Beijing Institute of Technology, Beijing, China – sequence: 5 givenname: Tianya surname: Li fullname: Li, Tianya email: litianya04@126.com organization: Beijing Aerospace Automatic Control Institute, Beijing, China |
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| Snippet | 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... |
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| SubjectTerms | 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 |
| Title | Flatness-based adaptive sliding mode tracking control for a quadrotor with disturbances |
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