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Indoor Navigation Strategies for Aerial Autonomous Systems by Pedro Garcia Gil, Laura Elena Munoz Hernandez, Pedro Castillo-Garcia

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Chapter 7

Sliding Mode Control*

Abstract

The sliding controllers are becoming popular when working with aerial vehicles. They are generally used for their good performance and robustness properties in the presence of unknown perturbations. They are often used in nonlinear systems despite their greatest weakness to produce chattering in the control inputs. In this chapter two results are presented: on the one hand, a methodology is described to represent the nonlinear and perturbed attitude dynamics of a quadcopter in a linear and perturbed attitude system as mostly used in several works, and, on the other hand, a robust sliding mode algorithm with an integral component is conceived and validated to stabilize this system. Graphs obtained ...

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