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Article Dans Une Revue International Journal of Robust and Nonlinear Control Année : 2020

Nonlinear control with integral sliding properties for circular aerial robot trajectory tracking: Real‐time validation

E. Ibarra‐jimenez
  • Fonction : Auteur
Hernan Abaunza

Résumé

A nonlinear control algorithm for tracking dynamic trajectories using an aerial vehicle is developed in this work. The control structure is designed using a sliding mode methodology, which contains integral sliding properties. The stability analysis of the closed‐loop system is proved using the Lyapunov formalism, ensuring convergence in a desired finite time and robustness toward unknown and external perturbations from the first time instant, even for high frequency disturbances. In addition, a dynamic trajectory is constructed with the translational dynamics of an aerial robot for autonomous take‐off, surveillance missions, and landing. This trajectory respects the constraints imposed by the vehicle characteristics, allowing free initial trajectory conditions. Simulation results demonstrate the good performance of the controller in closed‐loop system when a quadrotor follows the designed trajectory. In addition, flight tests are developed to validate the trajectory and the controller behavior in real time.
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Dates et versions

hal-02445349 , version 1 (15-02-2021)

Identifiants

Citer

E. Ibarra‐jimenez, Pedro Castillo Garcia, Hernan Abaunza. Nonlinear control with integral sliding properties for circular aerial robot trajectory tracking: Real‐time validation. International Journal of Robust and Nonlinear Control, 2020, 30 (2), pp.609-635. ⟨10.1002/rnc.4777⟩. ⟨hal-02445349⟩
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