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Spatial Modeling and Robust Flight Control Based on Adaptive Sliding Mode Approach for a Quadrotor MAV

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Abstract

This paper addresses the design of a robust flight control for a quadrotor micro aerial vehicle under external perturbations. The spatial vectors convention is implemented in order to represent the mathematical model of the system. Then, a flight control based on an adaptive second order sliding mode technique is designed. This controller allows to mitigate matched and bounded perturbations/uncertainties with unknown bounds, while non overstimating of the control gain; its adaptive gains permit to reduce the control effort as well as the chattering effect. Furthermore, a closed loop analysis under perturbations is given. Simulation results include a comparison between the proposed adaptive flight control against a second order sliding mode approach showing the feasibility and attractiveness of strategy.

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Acknowledgments

This paper was a short version of the one presented in ICUAS 2017. Additionally, this work was part of a Postdoctoral stay at the Robotics National Laboratory of the ITESM-CONACyT.

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  1. Tecnologico de Monterrey, Escuela de Ingenieria y Ciencias, Ave. Eugenio Garza Sada 2501, Monterrey, N.L., 64849, México

    Herman Castañeda & J. L. Gordillo

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  1. Herman Castañeda
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  2. J. L. Gordillo
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Correspondence to Herman Castañeda.

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Castañeda, H., Gordillo, J.L. Spatial Modeling and Robust Flight Control Based on Adaptive Sliding Mode Approach for a Quadrotor MAV. J Intell Robot Syst 93, 101–111 (2019). https://doi.org/10.1007/s10846-018-0819-3

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  • DOI: https://doi.org/10.1007/s10846-018-0819-3

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