sliding mode control

unmanned aerial

robot manipulators

variable structure

sliding mode

external disturbances

optimal control

disturbance rejection

aerial manipulator

wheeled mobile

Journal of The Franklin Institute-engineering and Applied Mathematics

This paper deals with the problem of robust tracking output-control design for a Quad-Rotor. The proposed approach is based on continuous sliding-modes control (SMC) techniques and it is able to robustly track a desired trajectory for the Quad-Rotor despite some class of disturbances acting on the system. Such a robust tracking control is composed of a finite-time sliding-mode observer (SMO) and cascaded continuous SMCs providing uniform finite-time stability and uniform exponential stability, for the vertical and yaw tracking error, and for the horizontal tracking error, respectively; despite the disturbances on the system, and only using the measurable positions and angles. Simulation results illustrate the feasibility of the proposed tracking strategy.

Robust tracking output-control for a quad-rotor: A continuous sliding-mode approach