Integral γ ‑Sliding Mode Control for a Quadrotor with Uncertain Time‑Varying Mass and External Disturbance

다국어 초록 (Multilingual Abstract)

In this paper, we consider a robust control problem for a quadrotor that has uncertain time-varying mass and external disturbance. In solving our control problem, we suggest a new γ-sliding mode controller coupled with an integrator to tackle both uncertain time-varying mass and disturbance issues in the system. Through Lyapunov analysis of the controlled system, we show that the gain-scaling factor γ can efectively reduce the ultimate bound of each controlled state. The performance of the proposed controller is verifed under the mass change during the experiment

참고문헌 (Reference)

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