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Journal Articles IEEE Transactions on Aerospace and Electronic Systems Year : 2016

Model-Free Based Terminal SMC of Quadrotor Attitude and Position

Abstract

In this paper a Model-Free based Terminal Sliding-Mode Control (MFTSMC) strategy is developed to control the attitude and position of a quadrotor whose model includes parameter variations, uncertainties and external disturbances. The proposed MFTSMC combines a model-free control approach with a sliding-mode technique and makes possible to eliminate the tracking error in a finite time. To demonstrate the performance and effectiveness of the proposed MFTSMC, numerical simulation results have been obtained and compared with corresponding results for PID, backstepping and sliding-mode controls.
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Dates and versions

hal-01410899 , version 1 (06-12-2016)

Identifiers

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Haoping Wang, Ye Xuefei, Yang Tian, Gang Zheng, Nicolai Christov. Model-Free Based Terminal SMC of Quadrotor Attitude and Position. IEEE Transactions on Aerospace and Electronic Systems, 2016, 52 (5), pp.2519 - 2528. ⟨10.1109/TAES.2016.150303⟩. ⟨hal-01410899⟩
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