Trajectory Tracking with Adaptive Robust Control for Quadrotor
This work proposes three robust mechanisms based on the MIT rule and the sliding-mode techniques. These robust mechanisms have to tune the gains of an adaptive Proportional-Derivative controller to steer a quadrotor in a predefined trajectory. The adaptive structure is a model reference adaptive con...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/18/8571 |
| _version_ | 1797520319465914368 |
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| author | Tadeo Espinoza-Fraire Armando Saenz Francisco Salas Raymundo Juarez Wojciech Giernacki |
| author_facet | Tadeo Espinoza-Fraire Armando Saenz Francisco Salas Raymundo Juarez Wojciech Giernacki |
| author_sort | Tadeo Espinoza-Fraire |
| collection | DOAJ |
| description | This work proposes three robust mechanisms based on the MIT rule and the sliding-mode techniques. These robust mechanisms have to tune the gains of an adaptive Proportional-Derivative controller to steer a quadrotor in a predefined trajectory. The adaptive structure is a model reference adaptive control (MRAC). The robust mechanisms proposed to achieve the control objective (trajectory tracking) are MIT rule, MIT rule with sliding mode (MIT-SM), MIT rule with twisting (MIT-Twisting), and MIT rule with high order sliding mode (MIT-HOSM). |
| first_indexed | 2024-03-10T07:55:05Z |
| format | Article |
| id | doaj.art-633d559804aa4b2e9a6ce912831ff464 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T07:55:05Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-633d559804aa4b2e9a6ce912831ff4642023-11-22T11:54:50ZengMDPI AGApplied Sciences2076-34172021-09-011118857110.3390/app11188571Trajectory Tracking with Adaptive Robust Control for QuadrotorTadeo Espinoza-Fraire0Armando Saenz1Francisco Salas2Raymundo Juarez3Wojciech Giernacki4Faculty of Engineering, Sciences and Architecture, Juarez University of the State of Durango, Gómez Palacio 35070, MexicoFaculty of Engineering, Sciences and Architecture, Juarez University of the State of Durango, Gómez Palacio 35070, MexicoFaculty of Accounting and Management, Autonomous University of Coahuila, Torreon 27000, MexicoInterdisciplinary Professional Unit of Engineering Campus Coahuila, National Polytechnic Institute (IPN), Mexico City 07310, MexicoInstitute of Robotics and Machine Intelligence, Faculty of Control, Robotics and Electrical Engineering, University of Technology, Piotrowo 3a, 60-965 Poznan, PolandThis work proposes three robust mechanisms based on the MIT rule and the sliding-mode techniques. These robust mechanisms have to tune the gains of an adaptive Proportional-Derivative controller to steer a quadrotor in a predefined trajectory. The adaptive structure is a model reference adaptive control (MRAC). The robust mechanisms proposed to achieve the control objective (trajectory tracking) are MIT rule, MIT rule with sliding mode (MIT-SM), MIT rule with twisting (MIT-Twisting), and MIT rule with high order sliding mode (MIT-HOSM).https://www.mdpi.com/2076-3417/11/18/8571adaptive controlMIT rulesliding modetrajectory following |
| spellingShingle | Tadeo Espinoza-Fraire Armando Saenz Francisco Salas Raymundo Juarez Wojciech Giernacki Trajectory Tracking with Adaptive Robust Control for Quadrotor Applied Sciences adaptive control MIT rule sliding mode trajectory following |
| title | Trajectory Tracking with Adaptive Robust Control for Quadrotor |
| title_full | Trajectory Tracking with Adaptive Robust Control for Quadrotor |
| title_fullStr | Trajectory Tracking with Adaptive Robust Control for Quadrotor |
| title_full_unstemmed | Trajectory Tracking with Adaptive Robust Control for Quadrotor |
| title_short | Trajectory Tracking with Adaptive Robust Control for Quadrotor |
| title_sort | trajectory tracking with adaptive robust control for quadrotor |
| topic | adaptive control MIT rule sliding mode trajectory following |
| url | https://www.mdpi.com/2076-3417/11/18/8571 |
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