Observer-Based Sliding Mode Control of a 3-DOF Hover

William MacKunis; Mahmut Reyhanoglu; Remon Damen

doi:10.1109/ICARCV.2016.7838643

Observer-Based Sliding Mode Control of a 3-DOF Hover

William MacKunis, Mahmut Reyhanoglu, Remon Damen

Physical Sciences

Research output: Contribution to conference › Presentation

Abstract

A sliding mode control (SMC) strategy is presented for a quadrotor-based hover system, which achieves asymptotic attitude regulation in the presence of electrical and physical constraints. A sliding mode observer is employed to estimate the angular velocities. In addition, the proposed control design incorporates the input voltage constraints inherent in practical systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the complete nonlinear system dynamics.

Original language	American English
DOIs	https://doi.org/10.1109/ICARCV.2016.7838643
State	Published - Nov 2016
Event	14th International Conference on Control, Automation, Robotics and Vision (ICARCV) - Phuket, Thailand Duration: Nov 1 2016 → …

Conference

Conference	14th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Period	11/1/16 → …

Keywords

sliding mode control strategy
quadcopter-based hover system
attitude regulation

Disciplines

Navigation, Guidance, Control and Dynamics
Propulsion and Power

Access to Document

10.1109/ICARCV.2016.7838643License: Unspecified

Cite this

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title = "Observer-Based Sliding Mode Control of a 3-DOF Hover",

abstract = " A sliding mode control (SMC) strategy is presented for a quadrotor-based hover system, which achieves asymptotic attitude regulation in the presence of electrical and physical constraints. A sliding mode observer is employed to estimate the angular velocities. In addition, the proposed control design incorporates the input voltage constraints inherent in practical systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the complete nonlinear system dynamics.",

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AU - MacKunis, William

AU - Reyhanoglu, Mahmut

AU - Damen, Remon

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PY - 2016/11

Y1 - 2016/11

N2 - A sliding mode control (SMC) strategy is presented for a quadrotor-based hover system, which achieves asymptotic attitude regulation in the presence of electrical and physical constraints. A sliding mode observer is employed to estimate the angular velocities. In addition, the proposed control design incorporates the input voltage constraints inherent in practical systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the complete nonlinear system dynamics.

AB - A sliding mode control (SMC) strategy is presented for a quadrotor-based hover system, which achieves asymptotic attitude regulation in the presence of electrical and physical constraints. A sliding mode observer is employed to estimate the angular velocities. In addition, the proposed control design incorporates the input voltage constraints inherent in practical systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the complete nonlinear system dynamics.

KW - sliding mode control strategy

KW - quadcopter-based hover system

KW - attitude regulation

UR - https://ieeexplore.ieee.org/document/7838643/

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DO - 10.1109/ICARCV.2016.7838643

M3 - Presentation

T2 - 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)

Y2 - 1 November 2016

ER -

Observer-Based Sliding Mode Control of a 3-DOF Hover

Abstract

Conference

Keywords

Disciplines

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