TY - JOUR
T1 - Attractive Ellipsoid-Based Robust Control for Quadrotor Tracking
AU - Falcon, Romeo
AU - Rios, Hector
AU - Mera, Manuel
AU - Dzul, Alejandro
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2020/9
Y1 - 2020/9
N2 - This article deals with the tracking control problem for a quadrotor in the presence of external disturbances and only by means of the measurable positions and angles. To this aim, a constructive output-based robust control approach is designed based on the sliding-mode observation theory, for state estimation and the attractive ellipsoid method, for control design. The closed-loop robust stability is proven through Lyapunov methods. The synthesis of the robust output-based control approach is expressed in terms of linear matrix inequalities. Experimental results on the QBall2 platform by Quanser illustrate the feasibility of the proposed approach.
AB - This article deals with the tracking control problem for a quadrotor in the presence of external disturbances and only by means of the measurable positions and angles. To this aim, a constructive output-based robust control approach is designed based on the sliding-mode observation theory, for state estimation and the attractive ellipsoid method, for control design. The closed-loop robust stability is proven through Lyapunov methods. The synthesis of the robust output-based control approach is expressed in terms of linear matrix inequalities. Experimental results on the QBall2 platform by Quanser illustrate the feasibility of the proposed approach.
KW - Quadrotor
KW - robust output-based control
KW - sliding-mode observers
UR - http://www.scopus.com/inward/record.url?scp=85085241068&partnerID=8YFLogxK
U2 - 10.1109/TIE.2019.2942546
DO - 10.1109/TIE.2019.2942546
M3 - Artículo
AN - SCOPUS:85085241068
SN - 0278-0046
VL - 67
SP - 7851
EP - 7860
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 9
M1 - 8848797
ER -