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The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is shown in a 3D simulation environment considering a forest fire detection task, which takes into account external disturbances.<\/jats:p>","DOI":"10.1017\/s0263574720000673","type":"journal-article","created":{"date-parts":[[2020,7,24]],"date-time":"2020-07-24T04:12:17Z","timestamp":1595563937000},"page":"699-717","source":"Crossref","is-referenced-by-count":5,"title":["Robust Multimode Flight Framework Based on Sliding Mode Control for a Rotary UAV"],"prefix":"10.1017","volume":"39","author":[{"given":"Abraham","family":"Villanueva","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7095-9984","authenticated-orcid":false,"given":"Luis F.","family":"Luque-Vega","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8999-3015","authenticated-orcid":false,"given":"Luis E.","family":"Gonz\u00e1lez-Jim\u00e9nez","sequence":"additional","affiliation":[]},{"given":"Carlos A.","family":"Arellano-Muro","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2020,7,24]]},"reference":[{"key":"S0263574720000673_ref7","unstructured":"7. Madani, T. and Benallegue, A. , \u201cSliding Mode Observer and Backstepping Control for a Quadrotor Unmanned Aerial Vehicles,\u201d Proceedings of the American Control Conference \u201907 (2007) pp. 5887\u20135892."},{"key":"S0263574720000673_ref10","first-page":"33","article-title":"Non-linear flight control for unmanned aerial vehicles using adaptive backstepping based on invariant manifolds","volume":"1","author":"Zhang","year":"2013","journal-title":"J. Aerospace Eng."},{"key":"S0263574720000673_ref3","unstructured":"3. Rabhi, A. , Chadli, M. and Pegard, C. , \u201cRobust Fuzzy Control for Stabilization of a Quadrotor,\u201d Proceedings of the 15th International Conference on Advanced Robotics (ICAR) (2011) pp. 471\u2013475."},{"key":"S0263574720000673_ref4","doi-asserted-by":"publisher","DOI":"10.5121\/ijitca.2012.2201"},{"key":"S0263574720000673_ref20","doi-asserted-by":"crossref","unstructured":"20. Boskovic, J. and Mehra, R. , \u201cMulti-mode Switching in Flight Control,\u201d Proceedings of the The 19th Digital Avionics Systems Conference (2000) pp. 6F2\/1\u20136F2\/8.","DOI":"10.1109\/DASC.2000.884917"},{"key":"S0263574720000673_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2790929"},{"key":"S0263574720000673_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2019.04.055"},{"key":"S0263574720000673_ref13","unstructured":"13. Zhang, C. , Zhou, X. , Zhao, H. , Dai, A. and Zhou, H. , \u201cThree-Dimensional Fuzzy Control of Mini Quadrotor UAV Trajectory Tracking Under Impact of Wind Disturbance\u201d, Proceedings of the 2016 International Conference on Advanced Mechatronic Systems (2016) pp. 372\u2013377."},{"key":"S0263574720000673_ref22","unstructured":"22. 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Hongzhe, X. , Jim, H. and Yaoming, Z. , \u201cDesign of Multi-mode Flight Control System for Unmanned Helicopter,\u201d Proceedings of the 30th Chinese Control Conference (2011) pp. 3660\u20133663."},{"key":"S0263574720000673_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-018-0500-4"},{"key":"S0263574720000673_ref11","first-page":"1","article-title":"Trajectory tracking control of autonomous quadrotor helicopter using robust neural adaptive backstepping approach","volume":"21","author":"Basri","year":"2018","journal-title":"J. Aerospace Eng."},{"key":"S0263574720000673_ref17","unstructured":"17. http:\/\/copter.ardupilot.com\/wiki\/flight-modes."},{"key":"S0263574720000673_ref21","unstructured":"21. Villanueva, A. , Castillo-Toledo, B. , Bayro-Corrochano, E. , Luque-Vega, L. F. and Gonzalez-Jimenez, L. E. , \u201cMulti-mode Flight Sliding Mode Control System for a Quadrotor,\u201d Proceedings of the 2015 International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO (2015) pp. 861\u2013870."},{"key":"S0263574720000673_ref16","unstructured":"16. Redrovan, D. and Kim, D. , \u201cMultiple Quadrotors Flight Formation Control Based on Sliding Mode Control and Trajectory Tracking,\u201d Proceedings of the 2018 International Conference on Electronics, Information, and Communication (ICEIC) (2018) pp. 1\u20136."},{"key":"S0263574720000673_ref18","unstructured":"18. Bo, L. and Ping, L. , \u201cA Stateflow Based Simulation of UAV Multi-mode Flight Control,\u201d Proceedings of the 8th World Congress on Intelligent Control and Automation (2010) pp. 3347\u20133352."},{"key":"S0263574720000673_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.825052"},{"key":"S0263574720000673_ref27","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-77452-7","volume-title":"Supervisory Control of Discrete-Event Systems","author":"Murray Wonham","year":"2019"},{"key":"S0263574720000673_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/9.948475"},{"key":"S0263574720000673_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-016-0013-y"},{"key":"S0263574720000673_ref25","unstructured":"25. Moreno, J. and Osorio, M. , \u201cA Lyapunov Approach to Second-Order Sliding Mode Controllers and Observers,\u201d Proceedings of the 47th IEEE Conference on Decision and Control (2008) pp. 2856\u20132861."},{"key":"S0263574720000673_ref8","unstructured":"8. Stevanovic, S. , Kasac, J. and Stepanic, J. , \u201cRobust Tracking Control of a Quadrotor Helicopter without Velocity Measurement,\u201d 23rd International DAAAM Symposium (2012) pp. 595\u2013600."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574720000673","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,10]],"date-time":"2024-08-10T18:20:48Z","timestamp":1723314048000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574720000673\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7,24]]},"references-count":27,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2021,4]]}},"alternative-id":["S0263574720000673"],"URL":"https:\/\/doi.org\/10.1017\/s0263574720000673","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2020,7,24]]}}}