Robust Multimode Flight Framework Based on Sliding Mode Control for a Rotary UAV
| Autor: | Luis F. Luque-Vega, Abraham Villanueva, Carlos A. Arellano-Muro, Luis E. González-Jiménez |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Multi-mode optical fiber Computer science Fire detection General Mathematics Stability (learning theory) Mode (statistics) 02 engineering and technology 01 natural sciences Sliding mode control 010305 fluids & plasmas Computer Science Applications Nonlinear system symbols.namesake 020901 industrial engineering & automation Control and Systems Engineering Control theory 0103 physical sciences symbols Flight control modes Software |
| Zdroj: | Robotica. 39:699-717 |
| ISSN: | 1469-8668 0263-5747 |
| Popis: | SUMMARYThis work presents a multimode flight framework control scheme for a quadrotor based on the super twisting algorithm. The controller design stages for six flight control modes are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is shown in a 3D simulation environment considering a forest fire detection task, which takes into account external disturbances. |
| Databáze: | OpenAIRE |
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