# 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.

Download#### 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