Citation
Mohd Nor, Elya and Mohd Noor, Samsul Bahari and Abdul Rahman, Ribhan Zafira and Md Ali, Syaril Azrad
(2017)
Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system.
Pertanika Journal of Science & Technology, 25 (spec. Jan.).
pp. 343-352.
ISSN 0128-7680; ESSN: 2231-8526
Abstract
This work proposes an output feedback controller for stabilization of the quadrotor underactuated system in the presence of time varying disturbances and model uncertainties. The proposed control is an improvement to the sliding mode control (SMC). An extended high-gain observer (EHGO) when combined with sliding mode control (SMC) able to give feasible performance beyond the performance of the standard sliding mode. It is able to bring the state trajectories of the closed-loop system close to the target system with a smaller ultimate bound of error and smaller control magnitude. The proposed method is illustrated by simulation.
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Official URL or Download Paper: http://www.pertanika.upm.edu.my/Pertanika%20PAPERS...
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Additional Metadata
| Item Type: | Article |
|---|---|
| Divisions: | Faculty of Engineering |
| Publisher: | Universiti Putra Malaysia Press |
| Keywords: | Extended high-gain observer; Sliding mode control; Underactuated system; Output feedback control |
| Depositing User: | Nabilah Mustapa |
| Date Deposited: | 30 Jun 2017 09:47 |
| Last Modified: | 05 Jul 2017 04:05 |
| URI: | http://psasir.upm.edu.my/id/eprint/55841 |
| Statistic Details: | View Download Statistic |
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