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
通讯作者:Ma, Xin
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
出版年:2017
卷:2017-January
页码:3981-3986
DOI:10.1109/CAC.2017.8243476
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.
收录类别:EI;SCOPUS
资源类型:会议论文;期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-85050471508&doi=10.1109%2fCAC.2017.8243476&partnerID=40&md5=393fef420a623cc7f51ca5e8efc08c68
TOP