A blended sliding mode control with linear quadratic integral control based on reduced order model for a VTOL system

Marco Herrera, Paulo Leica, Danilo Chavez, Oscar Camacho

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

In this paper, a Sliding Mode Control with chattering reduction based on reduced order model using Linear Quadratic Integral Control as sliding surface, is implemented to One Degree of Freedom Vertical Take-Off Landing System (VTOL). The controller performance is measured using Integral of the Square Error index by simulation and real tests. Finally, the Sliding Mode Control with a Linear Quadratic Integral Control as sliding surface performance for reference tracking and, robustness against VTOL system physical parameter uncertainties and external disturbances are verified by experimental results.

Original languageEnglish
Title of host publicationICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
EditorsOleg Gusikhin, Kurosh Madani
PublisherSciTePress
Pages606-612
Number of pages7
ISBN (Electronic)9789897582639
DOIs
StatePublished - 2017
Externally publishedYes
Event14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017 - Madrid, Spain
Duration: 26 Jul 201728 Jul 2017

Publication series

NameICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
Volume1

Conference

Conference14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017
Country/TerritorySpain
CityMadrid
Period26/07/1728/07/17

Keywords

  • ISE index
  • LQI
  • Reduced order model
  • Sliding mode control
  • VTOL system

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