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Authors: Marco Herrera 1 ; Paulo Leica 1 ; Danilo Chávez 1 and Oscar Camacho 2

Affiliations: 1 Escuela Politécnica Nacional, Ecuador ; 2 Escuela Politécnica Nacional, Facultad de Ingeniería and Universidad de los Andes, Ecuador

Keyword(s): Sliding Mode Control, LQI, Reduced Order Model, ISE Index, VTOL System.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Modeling, Analysis and Control of Hybrid Dynamical Systems ; Real-Time Systems Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 606-612. DOI: 10.5220/0006429606060612

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Herrera, M.
AU - Leica, P.
AU - Chávez, D.
AU - Camacho, O.
PY - 2017
SP - 606
EP - 612
DO - 10.5220/0006429606060612
PB - SciTePress

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