Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle
by
*
and J.L. Gordillo
and J.L. Gordillo
Tecnologico de Monterrey, Escuela de Ingenieria y Ciencias, Monterrey, NL 64849, Mexico
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(7), 793; https://doi.org/10.3390/electronics8070793
Received: 14 June 2019 / Revised: 5 July 2019 / Accepted: 8 July 2019 / Published: 16 July 2019
(This article belongs to the Special Issue Motion Planning and Control for Robotics)
The design of an embedded flight controller for a quadrotor micro air vehicle, which is subject to uncertainties and perturbations, is addressed. In order to obtain robustness against bounded uncertainties and disturbances, an adaptive sliding mode controller is proposed. The control adaptive gains allow using only necessary control to satisfy the task, reducing the chattering effect and at the same time reject external perturbations. Furthermore, a stability analysis of the closed-loop system is given. Finally, simulations and experimental results carried out on a commercial micro air vehicle demonstrate the feasibility and advantages of the proposed flight controller.
View Full-Text
▼
Show Figures
Figure 1
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
MDPI and ACS Style
Castañeda, H.; Gordillo, J.L. Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle. Electronics 2019, 8, 793. https://doi.org/10.3390/electronics8070793
AMA Style
Castañeda H, Gordillo JL. Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle. Electronics. 2019; 8(7):793. https://doi.org/10.3390/electronics8070793
Chicago/Turabian StyleCastañeda, Herman; Gordillo, J.L. 2019. "Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle" Electronics 8, no. 7: 793. https://doi.org/10.3390/electronics8070793
Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.
Search more from Scilit
