标题：Quadrotor vertical taking off and landing control based on backstepping and non-singular terminal sliding mode
作者：Li, Zhi ;Ma, Xin ;Song, Rui ;Rong, Xuewen ;Tian, Xincheng ;Tian, Guohui ;Li, Yibin
作者机构：[Li, Zhi ;Ma, Xin ;Song, Rui ;Rong, Xuewen ;Tian, Xincheng ;Tian, Guohui ;Li, Yibin ] School of Control Science and Engineering, Shandong University, 更多
会议名称：2017 Chinese Automation Congress, CAC 2017
会议日期：20 October 2017 through 22 October 2017
来源：Proceedings - 2017 Chinese Automation Congress, CAC 2017
关键词：backstepping; non-singular terminal sliding mode; quadrotor; trajectory tracking
摘要：In this study, quadrotor vertical taking off and landing (VTOL) control problem of a quadrotor is investigated. A control strategy which has an inner-outer loop structure is proposed. A backstepping based controller is designed for the outer loop to fulfill position tracking aim. The inner loop is regarded as a nominal system with lumped disturbances which contains parameter perturbations, external disturbances and coupling effects. An improved non-singular terminal sliding mode controller is proposed for the nominal system and a disturbance upper bound estimator is designed to restrain the lumped disturbance. Robust stability and tracking performance are achieved simultaneously. © 2017 IEEE.