This paper deals with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovsky canonical form. It is shown that all the sliding surfaces have relative degree five or three. Simulations are carried out using higher order continuous finite time controllers. © 2014 IFAC.

Arun D. Mahindrakar

Department of Electrical Engineering

Anup K. Ekbote

Dynamical systems

BRUNOVSKY CANONICAL FORMS

Finite-time control

Quad rotors

Sliding surface

Under-actuated systems

aircraft

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Finite-Time Control of a Quadrotor System

IFAC Proceedings Volumes (IFAC-PapersOnline)

This paper deals with the finite time stabilization of a twin rotor multiple-input multiple-output (TRMS) system. A terminal sliding mode control law is obtained for the linearized model of the system by transforming it to the Brunovsky canonical form. Through experiment, the resulting control law is shown to be stable to disturbances in pitch and yaw. © 2011 IFAC.

Fulltext

Terminal sliding mode control of a twin rotor multiple-input multiple-output system

49th IEEE Conference on Decision and Control (CDC)

Hovering quad-rotor control: A comparison of nonlinear controllers using visual feedback

Systems & Control Letters

Finite-time stabilization and stabilizability of a class of controllable systems

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)

Geometric sliding mode control: the linear and linearized theory

Finite-time control of a quadrotor system

Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Publisher	IFAC Secretariat
ISSN	14746670
Open Access	No