Cooperative Backstepping Control of Quadrotors via Sliding Mode Observer

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 (

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