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

2017

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.

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