An Event-triggered γ-sliding Mode Controller for Hovering Control of a Quadrotor with Uncertain Time-varying Mass and External Disturbance View Full Text


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Article Info

DATE

2022-08-27

AUTHORS

Yeong-Cheol Um, Sang-Young Oh, Ho-Lim Choi

ABSTRACT

In this paper, we propose an event-triggered γ-sliding mode controller for the hovering control of a quadrotor system in which there are uncertain time-varying mass and external disturbance. Through the Lyapunov stability analysis, we show that the controlled states are ultimately bounded. Also, we show that there exists a positive lower bound of interexecution times with our controller. Through the experiment, we illustrate that the proposed controller yields the similar performance to the one obtained by the traditional time-triggered controller under much less triggering events. More... »

PAGES

3372-3382

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s12555-021-0574-2

DOI

http://dx.doi.org/10.1007/s12555-021-0574-2

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1150553857


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