| Full text | |
| Author(s): |
Trentin, Joao F. S.
;
Santos, Davi A.
;
IEEE
Total Authors: 3
|
| Document type: | Journal article |
| Source: | 2022 16TH INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS (VSS); v. N/A, p. 6-pg., 2022-01-01. |
| Abstract | |
This paper is concerned with the design of a predefined-time sliding mode control law suitable for the attitude control of a quadrotor aerial vehicle. Using the Newton-Euler approach, the modeling of the rotation kinematics and dynamics of the quadrotor is formulated in terms of the control errors and put in the regular state-space form. Then, a multi-input predefined-time first-order sliding mode control law is designed so that, under reasonable conditions, the settling-time bound of the tracking error can be directly specified by a unique parameter independently of the initial conditions. The proposed control law is evaluated through numerical simulations where the results have confirmed that the tracking errors in fact converge to zero within the predefined time. (AU) | |
| FAPESP's process: | 20/12314-3 - On multi-body dynamic modeling and control of large multirotor aerial vehicles with tilting rotors |
| Grantee: | João Francisco Silva Trentin |
| Support Opportunities: | Scholarships in Brazil - Post-Doctoral |