Backstepping sliding mode tracking control of quad-rotor under input saturation.
Xun GongYue BaiZhicheng HouChangjun ZhaoYantao TianQiang SunPublished in: Int. J. Intell. Comput. Cybern. (2012)
Keyphrases
- tracking control
- sliding mode
- control law
- nonlinear systems
- stability analysis
- closed loop
- variable structure
- control strategy
- adaptive control
- control scheme
- tracking error
- control system
- control algorithm
- mathematical model
- optimal control
- lyapunov function
- controller design
- feedback control
- dynamical systems
- nonlinear functions
- motion planning
- fuzzy systems
- autonomous robots
- fault diagnosis
- fuzzy controller
- real time
- adaptive fuzzy
- degrees of freedom
- adaptive neural
- fuzzy model
- control parameters
- learning rate