Observer-Based Sliding Mode Control of a 3-DOF Hover System

被引：0
|
作者：
Reyhanoglu, Mahmut [1 ]
Damen, Remon [2 ]
MacKunis, William [1 ]
机构：
[1] Embry Riddle Aeronaut Univ, Phys Sci Dept, Daytona Beach, FL 32114 USA
[2] Eindhoven Univ Technol, Mech Engn Dept, NL-5612 AZ Eindhoven, Netherlands
来源：
2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV) | 2016年
关键词：
TRACKING CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A sliding mode control (SMC) strategy is presented for a quadrotor-based hover system, which achieves asymptotic attitude regulation in the presence of electrical and physical constraints. A sliding mode observer is employed to estimate the angular velocities. In addition, the proposed control design incorporates the input voltage constraints inherent in practical systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the complete nonlinear system dynamics.
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收藏
页数：6
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