Sliding Mode Observer and Control for Quadrotor Stabilization
نویسندگان
چکیده
منابع مشابه
Control of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear Hâ
In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...
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in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...
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International Journal of Robotics, Vol. 4, No. 1, 38-46 (2015) / Gh. Alizadeh, K. Ghasemi 39 The remainder of this paper is then organized as follows. fIGThe control strategy is exposed in Section III; in this section, two approaches of nonlinear robust control design are proposed: the SMDO control for translational movements and the nonlinear H∞ control for the rotational subsystem. Section IV...
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An adaptive sliding mode control based on two neural networks is proposed in this paper for Quadrotor stabilization. This approach presents solutions to conventional control drawbacks as chattering phenomenon and dynamical model imprecision. For that reason two ANN for each quadrotor helicopter subsystem are implemented in the control loop, the first one is a Single Hidden Layer network used to...
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ژورنال
عنوان ژورنال: Journal of Physics: Conference Series
سال: 2018
ISSN: 1742-6588,1742-6596
DOI: 10.1088/1742-6596/1060/1/012076