Robust Sliding Mode Control of a Quadrotor

被引：0
|
作者：
Shaik, Mukarram K. [1 ]
Whidborne, James E. [1 ]
机构：
[1] Cranfield Univ, Sch Aerosp Transport & Mfg, Cranfield MK43 0AL, Beds, England
来源：
2016 UKACC 11TH INTERNATIONAL CONFERENCE ON CONTROL (CONTROL) | 2016年
关键词：
Sliding Mode Control; Robustness; Quadrotors; Nonlinear Control; VTOL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A sliding mode controller is proposed for the robust control of both the position and attitude of a quadrotor. The design is tested in simulation. The performance is compared with a proportional plus derivative controller. The robustness of the design is also tested for parametric uncertainty. The effect of disturbances is also investigated. It is found that the sliding mode controller provides good performance, robustness and disturbance rejection.
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页数：6
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