Sliding mode variable structure attitude controller design of quadrotor UAVs on SO(3)

被引：0
|
作者：
Liu J.-T. [1 ]
Wu W.-H. [1 ]
Li J. [2 ]
Xin Q. [3 ]
机构：
[1] Qingdao Branch, Naval Aeronautical Engineering Institute, Qingdao
[2] College of Gardening, Naval Aeronautical Engineering Institute, Yantai
[3] College of Mathematics and Statistics, Yili Normal University, Yining
来源：
Liu, Jin-Tao (top2012@163.com) | 1600年 / Northeast University卷 / 31期
关键词：
Attitude control system; Quadrotor UAV; Sliding mode control; Special orthogonal group;
D O I：
10.13195/j.kzyjc.2015.0560
中图分类号：
学科分类号：
摘要：
In order to enhance the transient performance of existing quadrotor UAV SO(3) control schemes, the application of the sliding mode variable structure control technique to apply on quadrotor UAV SO(3) attitude control is researched. Firstly, by making analysis on two kinds of existing quadrotor UAV SO(3) attitude control models, a model with less singular points is selected as the control plant. Then, aiming at the possible control singularity problem, a integral type sliding surface with an adjustment function is proposed. The sliding mode stability lemma is obtained by theoretical deduction. Finally, by making use of the proposed sliding surface, the sliding mode controller is designed with the Lyapunov stability analysis result. Simulation results show the correctness of the design scheme. © 2016, Editorial Office of Control and Decision. All right reserved.
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页码：1057 / 1064
页数：7
相关论文
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