Sliding mode control for quadrotor with disturbance observer

被引：60

作者：

Ahmed, Nigar ^{[1
]}

Chen, Mou ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Jiangsu, Peoples R China

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2018年 / 10卷 / 07期

基金：

中国国家自然科学基金;

关键词：

Quadrotor; sliding mode control; mismatched disturbance; disturbance observer; TRACKING CONTROL; SYSTEMS; DESIGN; POSITION;

D O I：

10.1177/1687814018782330

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

In this article, a sliding mode control scheme is proposed for a quadrotor in the presence of an exogenous disturbance. A nonlinear sliding mode surface is constructed based on the estimate output of a disturbance observer to reject the effect of the unknown disturbance in the quadrotor. The desired control performance is achieved by bringing the state from unstable state to stable ones. To show the effectiveness of the developed control scheme, simulation results are provided for illustration of the designed controller based on disturbance observer.

引用

页数：16

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