Study of Adaptive Sliding Mode Control Method Based on Disturbance Observer for Quadrotor Unmanned Aerial Vehicle

DOI

10.2991/mmebc-16.2016.374How to use a DOI?

Keywords

Adaptive Sliding Mode Control; Disturbance Observer; Quadrotor Unmanned Aerial Vehicle; Simulation;

Abstract

Quadrotor Unmanned Aerial Vehicle is a kind of UAV, which is disturbed easily and has nonlinear and strong coupling characteristics. In the paper, the model of Quadrotor Unmanned Aerial Vehicle is presented, then the adaptive sliding mode control laws is designed based on the model. And the disturbance observer is lead in the control laws. The control laws can overcome the uncertainty and unmodelled dynamics in the model. In the end, the correctness of control laws is proved by the method of Mathematics and the simulations prove that the control laws ensure that Quadrotor UAV can flight steady.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - He-wei Zhao
AU  - Yong Liang
AU  - Xiu-xia Yang
AU  - Xiao Liu
PY  - 2016/06
DA  - 2016/06
TI  - Study of Adaptive Sliding Mode Control Method Based on Disturbance Observer for Quadrotor Unmanned Aerial Vehicle
BT  - Proceedings of the 2016 6th International Conference on Machinery, Materials, Environment, Biotechnology and Computer
PB  - Atlantis Press
SP  - 1851
EP  - 1856
SN  - 2352-5401
UR  - https://doi.org/10.2991/mmebc-16.2016.374
DO  - 10.2991/mmebc-16.2016.374
ID  - Zhao2016/06
ER  -