Adaptive Sliding Mode Controller for Quad Rotor Aircraft
Abstract: It is a challenge to design the controller for quadrotor aerial robot because of its uncertainty of model parameter and extern disturbance. The paper presents an adaptive sliding mode controller which is applied to the slow and fast loop control of quadrotor for waypoints trajactory tracking. On the premise of sliding mode control to ensure the control robustness, the adaptive control variables are used to compensate the parameter uncertainty and extern disturbance. Base on the Lyapunov theory, the global asymptotic stability is validated. It behaves perfectly at the reference altitude and trajectory track in simulation.
文章引用: 朱 培 , 王立峰 (2015) 四旋翼飞行器自适应滑模控制方法研究。 动力系统与控制， 4， 7-16. doi: 10.12677/DSC.2015.41002
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