A Robust Control Strategy for Target Tracking using a Quad–Rotor

https://doi.org/10.58571/CNCA.AMCA.2022.068

Resumen: In this paper, a robust control strategy for a QuadRotor, under the effect of external disturbances, is proposed to track a movil target, considering time delayed measurements of the target position. For the target position, it is assumed that a monocular camera is fixed in the center of the QuadRotors bottom. It is considered that the frame rate of the camera, and the time of the image processing, provide the position of the target with a timedelay. The current target position is estimated through an identified model in order to generate the desired signals to be followed by the QuadRotor. A robust control strategy is proposed, based on a combination of PD and slidingmodes controllers. Numerical simulations show the performance of the proposed control strategy.

¿Cómo citar?

Falcón, Romeo, Ríos, Héctor, Efimov, Denis & Dzul, Alejandro. A Robust Control Strategy for Target Tracking using a Quad–Rotor. Memorias del Congreso Nacional de Control Automático, pp. 300-305, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.068

Palabras clave

Control Robusto; Control de Sistemas No Lineales; Control Discontinuo (modos deslizantes)

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