A Comparative Study of Sliding-Mode-Based Control Strategies of a Quad-Rotor UAV

被引：0
|
作者：
Paiva, E. [1 ]
Fretes, H. [1 ]
Rodas, J. [1 ]
Saad, M. [2 ]
Kali, Y. [2 ]
Lesme, J. L. [3 ]
Lesme, F. [3 ]
机构：
[1] Univ Nacl Asuncion, Lab Power & Control Syst, Luque, Paraguay
[2] Ecole Technol Super, GREPCI Lab, Montreal, PQ, Canada
[3] Univ Catolica, Unidad Pedag Caacupe, Caacupe, Paraguay
来源：
IECON 2021 - 47TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2021年
关键词：
Unmanned aerial vehicle (UAV); UAV control techniques; Sliding Mode; TIME-DELAY ESTIMATION;
D O I：
10.1109/IECON48115.2021.9589155
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, three sliding-mode-based control techniques for position and attitude tracking trajectory for a quad-rotor unmanned aerial vehicle (UAV) are evaluated regarding the tracking performance and the chattering in the motors' speed. The evaluation is made through numerical simulations of a stationary flight and waypoint tracking with disturbances. The results show that Sliding Mode controllers are suitable for UAV applications, with high tracking performance, particularly sliding mode controllers with exponential reaching law. The modified super twisting algorithm can achieve the control objectives with a notable reduction in the chattering effect.
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页数：6
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