Attitude tracking of a tri-rotor uav based on robust sliding mode with time delay estimation

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URI
http://hdl.handle.net/20.500.14066/3649
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Author(s)
Kali, Yassine; Rodas Benítez, Jorge EstebanCONACYT Authority; Gregor Recalde, Raúl IgmarCONACYT Authority; Saad, Maarouf; Benjelloun, Khalid
Date of publishing
2018
Type of publication
research article
Subject(s)
Abstract
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.
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