Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system
This work proposes an output feedback controller for stabilization of the quadrotor underactuated system in the presence of time varying disturbances and model uncertainties. The proposed control is an improvement to the sliding mode control (SMC). An extended high-gain observer (EHGO) when combined...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Universiti Putra Malaysia Press
2017
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| Online Access: | http://psasir.upm.edu.my/id/eprint/55841/ http://psasir.upm.edu.my/id/eprint/55841/1/38-JTS%28S%29-0114-2016-4thProof.pdf |
| _version_ | 1848852914968199168 |
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| author | Mohd Nor, Elya Mohd Noor, Samsul Bahari Abdul Rahman, Ribhan Zafira Md Ali, Syaril Azrad |
| author_facet | Mohd Nor, Elya Mohd Noor, Samsul Bahari Abdul Rahman, Ribhan Zafira Md Ali, Syaril Azrad |
| author_sort | Mohd Nor, Elya |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | This work proposes an output feedback controller for stabilization of the quadrotor underactuated system in the presence of time varying disturbances and model uncertainties. The proposed control is an improvement to the sliding mode control (SMC). An extended high-gain observer (EHGO) when combined with sliding mode control (SMC) able to give feasible performance beyond the performance of the standard sliding mode. It is able to bring the state trajectories of the closed-loop system close to the target system with a smaller ultimate bound of error and smaller control magnitude. The proposed method is illustrated by simulation. |
| first_indexed | 2025-11-15T10:45:39Z |
| format | Article |
| id | upm-55841 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T10:45:39Z |
| publishDate | 2017 |
| publisher | Universiti Putra Malaysia Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-558412017-07-05T04:05:54Z http://psasir.upm.edu.my/id/eprint/55841/ Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system Mohd Nor, Elya Mohd Noor, Samsul Bahari Abdul Rahman, Ribhan Zafira Md Ali, Syaril Azrad This work proposes an output feedback controller for stabilization of the quadrotor underactuated system in the presence of time varying disturbances and model uncertainties. The proposed control is an improvement to the sliding mode control (SMC). An extended high-gain observer (EHGO) when combined with sliding mode control (SMC) able to give feasible performance beyond the performance of the standard sliding mode. It is able to bring the state trajectories of the closed-loop system close to the target system with a smaller ultimate bound of error and smaller control magnitude. The proposed method is illustrated by simulation. Universiti Putra Malaysia Press 2017 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/55841/1/38-JTS%28S%29-0114-2016-4thProof.pdf Mohd Nor, Elya and Mohd Noor, Samsul Bahari and Abdul Rahman, Ribhan Zafira and Md Ali, Syaril Azrad (2017) Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system. Pertanika Journal of Science & Technology, 25 (spec. Jan.). pp. 343-352. ISSN 0128-7680; ESSN: 2231-8526 http://www.pertanika.upm.edu.my/Pertanika%20PAPERS/JST%20Vol.%2025%20(S)%20Jan.%202017/38-JTS(S)-0114-2016-4thProof.pdf |
| spellingShingle | Mohd Nor, Elya Mohd Noor, Samsul Bahari Abdul Rahman, Ribhan Zafira Md Ali, Syaril Azrad Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system |
| title | Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system |
| title_full | Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system |
| title_fullStr | Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system |
| title_full_unstemmed | Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system |
| title_short | Application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system |
| title_sort | application of sliding mode control with extended high gain observer to stabilize the underactuated quadrotor system |
| url | http://psasir.upm.edu.my/id/eprint/55841/ http://psasir.upm.edu.my/id/eprint/55841/ http://psasir.upm.edu.my/id/eprint/55841/1/38-JTS%28S%29-0114-2016-4thProof.pdf |