Quadrotor Altitude Control Based on Sliding Mode Control

In this manuscript, the design of a continuous super twisting control based on high-order sliding mode observer for a class of nonlinear systems is addressed. An analysis of stability of the system in closed loop with the proposed control-observer scheme is provided by means of Lyapunov approach, wh...

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Bibliographic Details
Published in:Iranian journal of science and technology. Transactions of electrical engineering 2021-06, Vol.45 (2), p.543-551
Main Authors: Cano-González, José Angel, Salas-Peña, Oscar, Gutierrez, Susana V., De León-Morales, Jesus
Format: Article
Language:English
Subjects:
Aircraft control
Altitude
Altitude control
Closed loops
Comparative studies
Control stability
Electrical Engineering
Engineering
Helicopters
Nonlinear systems
Research Paper
Sliding mode control
Stability analysis
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Summary:In this manuscript, the design of a continuous super twisting control based on high-order sliding mode observer for a class of nonlinear systems is addressed. An analysis of stability of the system in closed loop with the proposed control-observer scheme is provided by means of Lyapunov approach, where sufficient conditions are given to ensure the convergence in finite time. Furthermore, a comparative study against similar methodologies is provided, where simulation and experimental results illustrate the effectiveness of the proposed scheme for altitude control of a quadrotor aircraft.
ISSN:2228-6179
2364-1827
DOI:10.1007/s40998-020-00376-8