Finite-Time Disturbance Observer Based Integral Sliding Mode Control of a Quadrotor

被引：0
|
作者：
Wang, Ning [1 ]
Deng, Qi [1 ]
机构：
[1] Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Peoples R China
来源：
PROCEEDINGS 2018 33RD YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC) | 2018年
关键词：
integral sliding mode (ISM); finite-time disturbance observer (FDO); trajectory tracking control; quadrotor; TRACKING CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the trajectory tracking control problem of a quadrotor with external disturbances. The main contributions are as follows: 1) A finite-time disturbance observer (FDO) is designed for accurate estimation of external disturbances and system uncertainties; 2) An integral sliding mode (ISM) control law is proposed to solve the trajectory tracking problem of the quadrotor; 3) By using FDO-based ISM control scheme, tracking errors can be stabilized to zero in a finite time. Simulation results show that the proposed control method has a remarkable performance.
引用
收藏
页码：956 / 960
页数：5
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