Controlling the Dynamics and Stabilization of the Altitude and Attitude of An Underactuated Tri-rotor UAV

Ali, Zain Anwar; Aamir, Muhammad; Wang, Dao Bo; Ahmed, Muhammad; Masroor, Suhaib

doi:10.14257/ijca.2017.10.3.25

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Design Of Sliding Mode Observer1

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2019

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“…The second order general form of the position and attitude fault objects can be written as: (11) In equation 11 In the above-mentioned equation (12) and (13), , and are the stuffs to be designed; 11from (12) , e…”

Section: Design Of Sliding Mode Observermentioning

confidence: 99%

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Designing of sliding mode observer for the position control for quadrotor UAV

Ding¹

2019

GJECS

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Aiming at the model uncertainty in system and vulnerability to external environment disturbance for the quadrotor UAV in field flight, this article uses the following ideas to solve them. Firstly, use the Newton-Euler method to establish the system model. Then, according to the inner and outer loop control structure, use the attitude command of the output of outer loop position controller as the input of inner loop attitude controller. This paper concentrates to designing of sliding mode observer controller. In addition, the stability of position subsystem proved by Lyapunov theory, the resulted conclusion state that the error converges to zero in finite time. Finally, the simulation of fixed-point control shows that the controller has fast response speed, anti-interference performance, and can track quickly and accurately.

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Section: Design Of Sliding Mode Observermentioning

confidence: 99%

“…Easily understand the referred state of quad-rotor UAV, the adaptive sliding mode (ASM) algorithm implemented. The virtual control law designed with the help of ASM in [12]. The main characteristic of linear sliding mode function is that the union of the system state is asymptotic at the equilibrium position [13].…”

Section: Introductionmentioning

confidence: 99%

Designing of sliding mode observer for the position control for quadrotor UAV

Ding¹

2019

GJECS

View full text Add to dashboard Cite

show abstract

Controlling the Dynamics and Stabilization of the Altitude and Attitude of An Underactuated Tri-rotor UAV

Abstract: In this article, an Adaptive Sliding Mode Control (ASMC) method is proposed for

Cited by 1 publication

References 25 publications

Designing of sliding mode observer for the position control for quadrotor UAV

Designing of sliding mode observer for the position control for quadrotor UAV

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