Sliding-Mode Controller Design for a Mini-UAV with Propellers

被引：2

作者：

Yeh, Fu-Kuang ^{[1
]}

Wang, Wen-Jieh ^{[1
]}

Kuo, Zeal-Sain ^{[2
]}

Chang, Yun-Sheng ^{[2
]}

机构：

[1] Chung Chou Univ Sci & Technol, Dept Comp Sci & Informat Engn, Changhua, Taiwan

[2] Natl Def Univ, Chung Cheng Inst Technol, Dept Mechatron Energy & Aerosp Engn, Tao Yuan, Taiwan

来源：

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES | 2012年 / 55卷 / 01期

关键词：

Sliding-Mode Control; UAV; Attitude Control; Nonlinear System; UNMANNED AERIAL VEHICLE; SYSTEM; FLIGHT; ORDER;

D O I：

10.2322/tjsass.55.30

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this paper, we propose a sliding-mode controller for a mini unmanned aerial vehicle (UAV) with propellers to follow the predetermined attitude trajectory. First the vehicle attitude dynamic model is established for angular displacements and for angular velocities, respectively. Next a sliding-mode controller with a switching surface is designed to eliminate uncertainties and disturbances. Then the attitude tracking control of a mini-UAV using the proposed control strategy is illustrated while flight. Finally, we employ the Lyapunov stability theory to fulfill the stability analysis of the proposed controller for the overall nonlinear control system. Extensive simulation results are gained to validate the effectiveness of the proposed sliding-mode controller.

引用

页码：30 / 36

页数：7

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