Study of Adaptive Sliding Mode Control Method Based on Disturbance Observer for Quadrotor Unmanned Aerial Vehicle

被引：0
作者：
Zhao, He-wei [1 ]
Liang, Yong [1 ]
Yang, Xiu-xia [1 ]
Liu, Xiao [1 ]
机构：
[1] Naval Aeronaut & Astronaut Univ, Dept Control Engn, Yantai, Peoples R China
来源：
PROCEEDINGS OF THE 2016 6TH INTERNATIONAL CONFERENCE ON MACHINERY, MATERIALS, ENVIRONMENT, BIOTECHNOLOGY AND COMPUTER (MMEBC) | 2016年 / 88卷
关键词：
Adaptive Sliding Mode Control; Disturbance Observer; Quadrotor Unmanned Aerial Vehicle; Simulation;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Quadrotor Unmanned Aerial Vehicle is a kind of UAV, which is disturbed easily and has nonlinear and strong coupling characteristics. In the paper, the model of Quadrotor Unmanned Aerial Vehicle is presented, then the adaptive sliding mode control laws is designed based on the model. And the disturbance observer is lead in the control laws. The control laws can overcome the uncertainty and unmodelled dynamics in the model. In the end, the correctness of control laws is proved by the method of Mathematics and the simulations prove that the control laws ensure that Quadrotor UAV can flight steady.
引用
收藏
页码：1851 / 1856
页数：6
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