标题:Chattering Free Sliding Adaptive Attitude Control for Quadrotor
作者:Li, Zhi; Ma, Xin; Xu, Zhigang; Wang, Yafang; Li, Yibin
通讯作者:Ma, X
作者机构:[Li, Zhi; Ma, Xin; Li, Yibin] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.; [Xu, Zhigang] Shandong Univ, Sch Life 更多
会议名称:IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)
会议日期:AUG 12-14, 2016
来源:2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC)
出版年:2016
页码:707-712
摘要:This paper investigates the quadrotor attitude tracking control problem in the presence of external disturbance and inertia uncertainty. An error quaternion based adaptive sliding mode control scheme is proposed in this paper. Adaptive control theory is applied to estimate inertia parameters and the upper bound of external disturbance. Lyapunov stability theory is applied to prove the stability of the controller. Simulation results are presented to demonstrate the performance and robustness of the controller.
收录类别:CPCI-S
WOS核心被引频次:2
资源类型:会议论文
TOP