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Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system


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 / Synopsis

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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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 17:47
Last Modified: 05 Jul 2017 12:05
URI: http://psasir.upm.edu.my/id/eprint/55841
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