Regulación robusta de un vehículo aéreo no tripulado via modos deslizantes dinámicos

Ángel Augusto Villanueva-Reyes; Víctor Eduardo  Pedraza-Vera; Félix Agustín Castro-Espinoza; Hugo  Romero-Trejo; Patricio Ordaz-Oliver

doi:10.29057/icbi.v10iEspecial3.8996

Ángel Augusto Villanueva-Reyes Universidad Autónoma del Estado de Hidalgo https://orcid.org/0000-0003-2813-9621
Víctor Eduardo Pedraza-Vera Universidad Autónoma del Estado de Hidalgo https://orcid.org/0000-0002-0702-5476
Félix Agustín Castro-Espinoza Universidad Autónoma del Estado de Hidalgo https://orcid.org/0000-0003-2818-641X
Hugo Romero-Trejo Universidad Autónoma del Estado de Hidalgo https://orcid.org/0000-0002-3660-758X
Patricio Ordaz-Oliver Universidad Autónoma del Estado de Hidalgo https://orcid.org/0000-0002-5055-2183

DOI: https://doi.org/10.29057/icbi.v10iEspecial3.8996

Keywords: Unmanned aerial vehicle, Nonlinear control, Dynamic sliding mode

Abstract

In this paper, a control scheme for the robust regulation of an unmanned aerial vehicle is presented. The control algorithm uses a sliding modes strategy to reduce the actuators chattering effect. To do this, a dynamic control is introduced, by using the pseudoinverse concept this one guarantees the convergence of the sliding surface in a finite time. Furthermore, based on the Lyapunov stability theory and the solution of a problem and linear matrix inequalities concept, the proposed scheme guarantees asymptotic stability of the aircraft closed loop dynamics. Finally, a numerical simulation is used to test the proposed algorithm.

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