Hierarchical Sliding Mode Control for Underactuated Multicopters With Time-Scale Separation Enforcement
This paper is concerned with the attitude and position control of underactuated multirotor aerial vehicles in the presence of matched disturbances and uncertainties, using the hierarchical scheme that nests the attitude control loop inside the position one. It is well-known that the effectiveness of...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10430164/ |