Cooperative Backstepping Control of Quadrotors via Sliding Mode Observer
Publish place: 9th The National Conference of Command, Control, Communication and Computers & Intelligence (C4I)
Publish Year: 1395
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
CCCI09_047
تاریخ نمایه سازی: 29 مهر 1396
Abstract:
This paper is mainly about backstepping control by running parallel sliding mode observer for a quadrotor Unmanned Ariel Vehicle. This sliding mode observer is filtered by a low pass filter to improve the performance of the observer. Forasmuch as filtering sliding mode outputs eliminates stimulated discontinuity of the sign function of observer, smooth results achieved. This observer will estimate the disturbances and observe the velocities (
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Authors
Amir Farhad Ehyaei
Assistant Professor in the Department of Electrical Engineering at Imam Khomeini International University, f.ehyaei@eng.ikiu.ac.ir, Qazvin,Iran
Kiarash Aryankia
Graduated M.Sc. student from Electrical Engineering Department at Sharif University of Technology, aryankia@alum.sharif.edu, Tehran, Iran