A Blended Sliding Mode Control with Linear Quadratic Integral Control based on Reduced Order Model for a VTOL System

Marco Herrera, Paulo Leica, Danilo Chávez, Oscar Camacho

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.

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Paper Citation


in Harvard Style

Herrera M., Leica P., Chávez D. and Camacho O. (2017). A Blended Sliding Mode Control with Linear Quadratic Integral Control based on Reduced Order Model for a VTOL System . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 606-612. DOI: 10.5220/0006429606060612


in Bibtex Style

@conference{icinco17,
author={Marco Herrera and Paulo Leica and Danilo Chávez and Oscar Camacho},
title={A Blended Sliding Mode Control with Linear Quadratic Integral Control based on Reduced Order Model for a VTOL System},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={606-612},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006429606060612},
isbn={978-989-758-263-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Blended Sliding Mode Control with Linear Quadratic Integral Control based on Reduced Order Model for a VTOL System
SN - 978-989-758-263-9
AU - Herrera M.
AU - Leica P.
AU - Chávez D.
AU - Camacho O.
PY - 2017
SP - 606
EP - 612
DO - 10.5220/0006429606060612