Integral Sliding Mode Control of Quadrotor Attitude Tracking based on Adding Power Integrator Technique

Haichao Zhang, Bing Xiao, Xiwei Wu, Xiaoqin Sun

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

The attitude tracking control problem of a quadrotor in the presence of the parametric uncertainty and external disturbance is studied. Firstly, the adding power integrator technique is employed to design a finite-time nominal controller for the attitude tracking control system. On this basis, an integral sliding mode surface is developed. The system state can converge to zero within finite time along the sliding surface when the ideal sliding motion is established. Combining the adaptive control technique and sliding mode control theory, an adaptive finite-time sliding mode control scheme is presented. It can drive the tracking errors converge to a small region containing zero. The finite-time stability of the attitude control system can be proved by the Lyapunov method strictly. Finally, a simulation example is conducted to verify the attitude tracking controller's effectiveness.

源语言英语
主期刊名Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
出版商Institute of Electrical and Electronics Engineers Inc.
2636-2641
页数6
ISBN(电子版)9798350334722
DOI
出版状态已出版 - 2023
活动35th Chinese Control and Decision Conference, CCDC 2023 - Yichang, 中国
期限: 20 5月 202322 5月 2023

出版系列

姓名Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023

会议

会议35th Chinese Control and Decision Conference, CCDC 2023
国家/地区中国
Yichang
时期20/05/2322/05/23

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