Robust Adaptive Sliding Mode Control Based on Iterative Learning for Quadrotor UAV

被引：7

作者：

Fu, Xingjian ^{[1
]}

He, Jiahui ^{[1
]}

机构：

[1] Beijing Informat Sci & Technol Univ, Sch Automat, Beijing 100192, Peoples R China

来源：

IETE JOURNAL OF RESEARCH | 2023年 / 69卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Fault-tolerant control; iterative learning; observer; quadrotor UAV; robust adaptive control; sliding mode control; BATCH PROCESSES; OBSERVER;

D O I：

10.1080/03772063.2021.1973590

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In order to improve the anti-disturbance ability and reduce the sensitivity to faults for the quadrotor UAV, the robust sliding mode adaptive control strategy based on iterative learning is designed in this paper. Firstly, the dynamic model of the quadrotor UAV is established. Secondly, the iterative learning observer is designed to track the states of the UAV system, and the convergence analysis of the observer is given. Thirdly, for the attitude system of the quadrotor UAV, a robust adaptive sliding mode control strategy based on iterative learning is proposed, and the stability is proved by the Lyapunov theory. Finally, by the simulation for the UAV attitude system, the validity of the iterative learning observer and robust adaptive sliding mode control strategy based on iterative learning is verified.

引用

页码：5484 / 5496

页数：13

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