DocumentCode :
3163206
Title :
Control of a Quadrotor Vehicle Using Sliding Mode Disturbance Observer
Author :
Besnard, Lenaick ; Shtessel, Yuri B. ; Landrum, Brian
Author_Institution :
Alabama Univ., Huntsville
fYear :
2007
fDate :
9-13 July 2007
Firstpage :
5230
Lastpage :
5235
Abstract :
This paper uses the recently developed sliding mode control driven by sliding mode disturbance observer approach to design a robust flight controller for a small quadrotor vehicle. This technique allows for continuous control robust to external disturbance and model uncertainties to be computed without the use of high control gain or extensive computational power. The multiple-loop, multiple time-scale flight controller is designed to provide robust position and attitude control of the vehicle while relying only on knowledge of the limits of the disturbances. Extensive simulations of a 6 DOF computer model demonstrate the robustness of the control when faced with external disturbances (including wind, collision and actuator failure) as well as model uncertainties.
Keywords :
aerospace control; robust control; variable structure systems; DOF computer model; external disturbance; multiple time-scale flight controller; multiple-loop controller; quadrotor vehicle; robust flight controller; sliding mode disturbance observer; Actuators; Blades; Helicopters; Propellers; Remotely operated vehicles; Robust control; Rotors; Sliding mode control; Uncertainty; Unmanned aerial vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
ISSN :
0743-1619
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2007.4282421
Filename :
4282421
Link To Document :
بازگشت