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
Online-Zugang:	Volltext
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