Robust Tracking Control using Integral Sliding Mode Observer for Quadrotors Considering Motor and Propeller Dynamics and Disturbances

2021 ◽  
Author(s):  
Junseo Heo ◽  
Dongkyoung Chwa
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Integral Sliding Mode

An Algorithm for Robust Tracking Control of Robots

Robotica ◽  
1991 ◽  
Vol 9 (1) ◽  
pp. 53-62 ◽  
Author(s):  
Zoran R. Novaković ◽  
Leon Z˘lajpah
Keyword(s):  
Tracking Control ◽  
Error Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Theory ◽  
Control Synthesis ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Time Simulation ◽  
Inverse Kinematics Problem

SUMMARYBased on the Lyapunov theory, a new principle was developed for synthesizing robot tracking control in the presence of model uncertainties. First, a general Lyapunov-like robust tracking concept is presented. It is then used as a basis for the control algorithm derived via a quadratic Lyapunov function constructed using a sliding mode function (based on the output error). Control synthesis is made in task-space, without any need for solving the inverse kinematics problem, i.e. one does not need to inver the Jacobian matrix. It is also shown that the tracking error becomes close to zero in a settling time which is less than a prescribed finite time. Simulation results are incorporated.

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