Equivalent Sliding Mode Controller Design Based on "H" Type Quadrotor

被引：0
|
作者：
Zhang, Linqi [1 ]
Wu, Jianan [1 ]
Liu, Sujie [1 ]
Zhen, Zean [1 ]
He, Xin [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Automat, Xian, Peoples R China
来源：
2017 INTERNATIONAL CONFERENCE ON MECHANICAL, SYSTEM AND CONTROL ENGINEERING (ICMSC) | 2017年
关键词：
quadrotor; equivalent sliding mode control; PID control; MATLAB/Simulink;
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：
Based on the "H" type quadrotor prototype, a 6DOF mathematical model is developed by the Newton-Euler method in order to proceed the research of position and attitude control of complex nonlinear problems. Then, in this context equivalent sliding mode controllers are designed to solve the altitude and attitude control of the quadrotor in addition that PID controllers are designed for the horizontal position control. At last, simulations are carried out under MATLAB/Simulink simulation environment. The simulation results illustrate that the designed controllers effectively realize the control of the quadrotor revealing good tracking ability and anti - interference ability.
引用
收藏
页码：338 / 342
页数：5
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