Sliding mode control of a quadrotor helicopter

被引：328

作者：

Xu, Rong ^{[1
]}

Oezguener, Uemit ^{[2
]}

机构：

[1] Ohio State Univ, Dept Elect & Comp Engn, Columbus, OH 43210 USA

[2] Ohio State Univ, Fac Elect & Comp Engn, Columbus, OH 43210 USA

来源：

PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年

关键词：

D O I：

10.1109/CDC.2006.377588

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a new design method for the flight control of an autonomous quadrotor helicopter based on sliding mode control. Due to the under-actuated property of a quadrotor helicopter, the controller can make the helicopter move three positions (x, y, z) and the yaw angle to their desired values and stabilize the pitch and roll angles. A sliding mode control is proposed to stabilize a class of cascaded under-actuated systems. The global stability analysis of the closed-loop system is presented. The advantage of sliding mode control is its insensitivity to the model errors, parametric uncertainties and other disturbances. Simulations show that the control law robustly stabilizes a quadrotor.

引用

页码：4957 / +

页数：2

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