@inproceedings{53f1efbe2e484f678438306dcf02122d,
title = "Quad-rotor orientation control by predictor based sliding mode control",
abstract = "A Sliding Mode Control (SMC) is modified in order to address the input delay in the control of quadrotor educational platform. The proposed scheme uses a predictor that compensates the delay effect on the input control which can appear for example when the control law is computed in a ground station. A Lyapunov stability analysis is presented to prove the exponential closed-loop stability in presence of perturbations and input delay. The control law is tested with numerical simulations to evaluate the expected results.",
keywords = "Input Delay, Quadrotor Rotorcraft, Sliding Mode, State Predictor",
author = "Jairo Ordaz and Sergio Salazar and Sabine Mondi{\'e} and Jorge D{\'a}vila and Abraham Rodriguez",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 ; Conference date: 23-11-2015 Through 25-11-2015",
year = "2016",
month = mar,
day = "24",
doi = "10.1109/RED-UAS.2015.7441036",
language = "Ingl{\'e}s",
series = "2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "424--430",
booktitle = "2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015",
address = "Estados Unidos",
}