Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

被引：14

作者：

Ding, Li ^{[1
,2
]}

He, Qing ^{[2
]}

Wang, Chengjun ^{[1
,3
]}

Qi, Rongzhi ^{[2
]}

机构：

[1] Anhui Univ Sci & Technol, Anhui Key Lab Mine Intelligent Equipment & Techno, Huainan 232001, Peoples R China

[2] Jiangsu Univ Technol, Coll Mech Engn, Changzhou 213000, Jiangsu, Peoples R China

[3] Anhui Univ Sci & Technol, Coll Mech & Elect Engn, Huainan 232001, Peoples R China

来源：

INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING | 2021年 / 2021卷

基金：

中国国家自然科学基金;

关键词：

SLIDING-MODE-CONTROL; OBSERVER; VEHICLE; DESIGN; UAVS; SYSTEMS;

D O I：

10.1155/2021/8850071

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller.

引用

页数：15

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