Journal
APPLIED SCIENCES-BASEL
Volume 11, Issue 18, Pages -Publisher
MDPI
DOI: 10.3390/app11188571
Keywords
adaptive control; MIT rule; sliding mode; trajectory following
Categories
Funding
- PROFEXCE 2020
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This study proposes three robust mechanisms based on the MIT rule and sliding-mode techniques, which tune the gains of an adaptive Proportional-Derivative controller to achieve trajectory tracking for a quadrotor.
This work proposes three robust mechanisms based on the MIT rule and the sliding-mode techniques. These robust mechanisms have to tune the gains of an adaptive Proportional-Derivative controller to steer a quadrotor in a predefined trajectory. The adaptive structure is a model reference adaptive control (MRAC). The robust mechanisms proposed to achieve the control objective (trajectory tracking) are MIT rule, MIT rule with sliding mode (MIT-SM), MIT rule with twisting (MIT-Twisting), and MIT rule with high order sliding mode (MIT-HOSM).
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