RT Journal Article T1 Attitude tracking of a tri-rotor uav based on robust sliding mode with time delay estimation A1 Kali, Yassine A1 Rodas Benítez, Jorge Esteban A1 Gregor Recalde, Raul Igmar A1 Saad, Maarouf A1 Benjelloun, Khalid A2 Universidad Nacional de Asunción - Facultad de Ingeniería AB The paper presents a robust sliding mode with time delay estimation method for controlling the attitude of a tri-rotor unmanned aerial vehicle (UAV) in presence of uncertainties and disturbances. The proposed control algorithm allows high accuracy tracking since a good disturbance estimation is provided using time delay estimation method and allows chattering reduction. The stability analysis of the closedloop system is presented using the theory of Lyapunov. Finally, two numerical simulations are presented in the presence of disturbances to show the effectiveness of the proposed nonlinear control scheme. YR 2018 FD 2018 LK http://hdl.handle.net/20.500.14066/3649 UL http://hdl.handle.net/20.500.14066/3649 LA eng NO CONACYT – Consejo Nacional de Ciencia y Tecnología DS MINDS@UW RD 28-mar-2024