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Multi-mode Flight Sliding Mode Control System for a Quadrotor

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dc.contributor.author Villanueva, Abraham
dc.contributor.author Castillo-Toledo, Bernardino
dc.contributor.author Bayro-Corrochano, Eduardo
dc.contributor.author Luque-Vega, Luis F.
dc.contributor.author González-Jiménez, Luis E.
dc.date.accessioned 2016-01-11T20:05:09Z
dc.date.available 2016-01-11T20:05:09Z
dc.date.issued 2015-06-12
dc.identifier.citation Villanueva, A.; Castillo-Toledo, B.; Bayro-Corrochano, E.;Luque-Vega, L.F., and González-Jiménez, L.E. (2015). Multi-mode Flight Sliding Mode Control System for a Quadrotor. 2015 International Conference on Unmanned Aircraft Systems. es
dc.identifier.uri http://hdl.handle.net/11117/2776
dc.description There is a wide range of applications for unmanned aerial vehicles that requires the capability of having several and robust flight controllers available. This paper presents the main framework of a multimode flight control system for a quadrotor based on the super twisting control algorithm. The design stages for the four flight control modes encompassing manual, altitude, GPS fixed and autonomous mode are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions while the stability analysis for the complete system, when a transition from one mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is demonstrated in a simulation study taking into account external disturbances. es
dc.description.sponsorship ITESO, A.C. es
dc.description.sponsorship CINVESTAV-IPN es
dc.language.iso eng es
dc.publisher IEEE es
dc.relation.ispartofseries International Conference on Unmanned Aircraft Systems;ICUAS 2015
dc.rights.uri http://quijote.biblio.iteso.mx/licencias/CC-BY-NC-2.5-MX.pdf es
dc.subject Multi-mode Flight Control es
dc.subject Sliding Modes es
dc.subject Quadrotor es
dc.title Multi-mode Flight Sliding Mode Control System for a Quadrotor es
dc.type info:eu-repo/semantics/conferencePaper es
rei.revisor ICUAS 2015
rei.peerreviewed Yes es


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