Rechazo Activo de Perturbaciones en un Cuadrotor Usando Modos Deslizantes de Orden Superior (I)

Resumen: En este trabajo se presenta un control robusto continuo para seguimiento de trayectoria en un cuadrotor. La estrategia propuesta hace uso de un observador por modos deslizantes de orden superior (OMDOS) que estima el estado e identifica las perturbaciones presentes en las dinámicas actuadas. Posteriormente los efectos de las perturbaciones son compensados a través del control. Además, se presenta el análisis de estabilidad del esquema controlador-observador vía una función de Lyapunov y se ilustra el desempeño del controlador propuesto en la plataforma experimental Quanser QBall 2

¿Cómo citar?

Jesus A. Angel-Verdugo, Alejandra Ferreira de Loza & Luis T. Aguilar. Rechazo Activo de Perturbaciones en un Cuadrotor Usando Modos Deslizantes de Orden Superior (I). Memorias del Congreso Nacional de Control Automático, pp. 109-114, 2019.

Palabras clave

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

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