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Enhanced Robust Altitude Controller via Integral Sliding Modes Approach for a Quad-Rotor Aircraft: Simulations and Real-Time Results

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Abstract

An enhanced robust altitude control scheme that indicates the improved performance than the typical sliding mode technique for a Quad-rotor aircraft vehicle is proposed in this article by including an integral action in the sliding mode control architecture in order to eliminate the steady-state error induced by the boundary layer and achieving asymptotic convergence to the desired altitude with continuous control input. The proposed integral sliding mode controller is chosen to ensure the stability and robustness of overall dynamics during the altitude control at a desired height reference on the z-axis. Furthermore, we propose a Control Lyapunov Function (CLF) via Lyapunov theory in order to construct the robust stabilizing controller and demonstrate the stability of the z-dynamics of our system. A suitable sliding manifold is designed to achieve the control objective. At last, the simulations and experimental studies are supported by different tests to demonstrate the robustness and effectiveness of the proposed enhanced robust altiutde control scheme subject to bounded external disturbances in outdoor environment.

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Authors and Affiliations

  1. UMI-LAFMIA 3175 CNRS at CINVESTAV-IPN, Av. IPN 2508 San Pedro Zacatenco, 07360, México D.F., México

    Iván González-Hernández & Ricardo López

  2. UMI LAFMIA, CINVESTAV-IPN, Av. IPN 2508, San Pedro Zacatenco C.P., 07360, México D.F., México

    Sergio Salazar & Rogelio Lozano

  3. Tecnológico Nacional de México-Instituto Tecnológico de Culiacán, Av. Juan de Dios, Guadalupe, 80220, Culiacán Rosales, Sinaloa, México

    A. E. Rodríguez-Mata

  4. Department of Mechatronics, Polytechnic University of Pachuca, Carr. Pachuca-Cd. Sahagun Km. 20, 43830, Zempoala, Hidalgo, México

    Filiberto Muñoz-Palacios

  5. UTC-HEUDIASyC, Centre de Recherches de Royallieu, 60205, Compiegne, France

    Rogelio Lozano

Authors
  1. Iván González-Hernández
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  2. Sergio Salazar
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  3. A. E. Rodríguez-Mata
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  4. Filiberto Muñoz-Palacios
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  5. Ricardo López
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  6. Rogelio Lozano
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Corresponding author

Correspondence to Iván González-Hernández.

Additional information

This work was supported by CONACyT, UMI-LAFMIA 3175 CNRS and CINVESTAV-IPN.

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González-Hernández, I., Salazar, S., Rodríguez-Mata, A.E. et al. Enhanced Robust Altitude Controller via Integral Sliding Modes Approach for a Quad-Rotor Aircraft: Simulations and Real-Time Results. J Intell Robot Syst 88, 313–327 (2017). https://doi.org/10.1007/s10846-017-0527-4

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  • DOI: https://doi.org/10.1007/s10846-017-0527-4

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