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- W2312846671 abstract "In this paper, a robust tracking control law for multi-rotor UAVs is proposed based on sliding mode control. The dynamic model of the multi-rotor UAV is obtained via a Lagrange approach as a 4-input 4-output system. The proposed controller can achieve asymptotic convergence of the closed-loop system for the plant with uncertainty of moment of inertia of the body. To construct a controller, the model of the plant is decomposed into two parallel subsystems as a vertical and a horizontal systems. The vertical and horizontal subsystems are controlled by linear feedback and sliding mode controllers, respectively. We derive a condition that the proposed controller can ensure the stability of the closed-loop system. By numerical simulation, effectiveness of the proposed control is verified." @default.
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- W2312846671 date "2014-01-01" @default.
- W2312846671 modified "2023-10-16" @default.
- W2312846671 title "Robust Tracking Control for Multi-rotor UAVs Using Sliding Mode Control" @default.
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- W2312846671 doi "https://doi.org/10.9746/sicetr.50.170" @default.
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