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, Raúl 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 24-dic-2024