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• W2566930200 abstract "This paper introduces dynamic surface control (DSC) techniques to formulate concise sliding mode controllers to control the horizontal position of an underactuated quadrotor. Sliding mode control is a popular type of robust nonlinear control method. However, traditional methods on handling underactuated model such as integrator backstepping and dynamic input augmentation could lead to the explosion of terms when time derivatives are taken in controller designs. It makes sliding mode controllers only feasible for highly simplified dynamic models. We solve the term explosion problem by introducing DSC filters in synthetic controls, so that a full quadrotor model can be used for horizontal controller designs." @default.
• W2566930200 created "2017-01-06" @default.
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• W2566930200 date "2016-10-01" @default.
• W2566930200 modified "2023-09-22" @default.
• W2566930200 title "Dynamic surface control techniques applied to horizontal position control of a quadrotor" @default.
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• W2566930200 doi "https://doi.org/10.1109/icstcc.2016.7790655" @default.
• W2566930200 hasPublicationYear "2016" @default.
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