Design and Implementation of UAV Velocity Controller Based on Reference Model Sliding Mode Control

被引:8
作者
Wang, Qi [1 ]
Wang, Wei [2 ]
Suzuki, Satoshi [1 ]
Namiki, Akio [1 ]
Liu, Hongxun [1 ]
Li, Ziran [1 ]
机构
[1] Chiba Univ, Grad Sch Engn, 1-33 Yayoi-cho,Inage Ku, Chiba 2638522, Japan
[2] Nanjing Univ Informat Sci & Technol, Jiangsu Collaborat Innovat Ctr Atmospher Environm, Nanjing 210044, Peoples R China
关键词
sliding mode control; parameter uncertain; reference model; velocity control; QUADROTOR; TRACKING; ALTITUDE; SUBJECT; ROTOR;
D O I
10.3390/drones7020130
中图分类号
TP7 [遥感技术];
学科分类号
081102 ; 0816 ; 081602 ; 083002 ; 1404 ;
摘要
In recent years, multi-rotor unmanned aerial vehicles (UAV) have been widely applied for various applications; however, they are yet to be as commonly utilized in certain industrial transportation applications. Thus, this work designed and implemented a reference model-based integral sliding mode control (SMC) method applied to the velocity controller of a multi-rotor UAV. The designed controller was compared with an integral SMC scheme, and then the controller and modeling robustness were verified. Finally, the proposed method was applied to an industrial six-rotor UAV. Three experiments involving target-tracking, fixed-point hovering, and robustness verification were executed. A load of approximately 81.5% of the UAV's self-weight was used to verify the robustness of the proposed scheme against parameter uncertainty. This work will serve as a meaningful reference for the application of the SMC in practical industrial applications.
引用
收藏
页数:21
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