| Title |
Hovering Control Using -sliding Surface of Quadrotor with Uncertain Time-Varying Mass and External Disturbance |
| Authors |
엄영철(Yeong-Cheol Um) ; 최호림(Ho-Lim Choi) |
| DOI |
https://doi.org/10.5370/KIEE.2020.69.10.1474 |
| Keywords |
Quadrotor; sliding surface; Hovering control; Uncertain time-varying mass; External disturbance |
| Abstract |
In this paper, we propose a feedback controller using sliding surface for quadrotor with uncertain time-varying mass and external disturbance. For the robust hovering control of quadrotor, we using sliding surface and analyze the closed-loop system using Lyapunov function. Through analysis, we show that can reduce the ultimate bound of each state. In addition, the proposed controller is applied to the actual quadrotor to illustrate the validity of the proposed controller. |