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Multi-surface sliding control of MIMO autonomous flight systems
conference contribution
posted on 2014-01-01, 00:00 authored by Michael NortonMichael Norton, Sui Yang KhooSui Yang Khoo, Abbas KouzaniAbbas Kouzani, Aleksandar StojcevskiIn this paper, a multi-surface sliding control (MSSC) is proposed for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an iterative MSSC design can be carried out to control flight. Using MSSC on MIMO autonomous flight systems creates confluent control that can account for model mismatches, system uncertainties, system disturbances and excitation in internal dynamics. We prove that the MSSC system guarantees asymptotic output tracking and ultimate uniform boundedness of the system. Simulation results are presented to validate the analysis.
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Control Automation Robotics and Vision. International Conference (13th : 2014 : Singapore)Pagination
401 - 406Publisher
IEEELocation
SingaporePlace of publication
Piscataway, N.J.Publisher DOI
Start date
2014-12-10End date
2014-12-12ISBN-13
9781479951994Language
engPublication classification
E Conference publication; E1.1 Full written paper - refereedCopyright notice
2014, IEEETitle of proceedings
ICARCV 2014: Proceedings of the 13th International Conference on Control Automation Robotics and VisionUsage metrics
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