The performances of the flight controller are quantified by means of three aspects, the ability to stabilize the quadrotor at the prescribed set-point, the accuracy to track with high precision the imposed path, and the robustness against external unknown disturbances. In order to satisfy the desired performances, a Robust Adaptive Sliding Mode Controller (RASMC) based on a new adaptive reaching law is developed in this work. The main goal of the proposed RASMC is to keep the quadrotor behaviors intact from the impact of uncertainties and disturbances. The effectiveness of the proposed method was validated through simulation experiments and shows high performances compared to the conventional sliding mode controller (CSMC) and the proportional-integral-derivative controller (PID).
A new robust adaptive sliding mode controller for quadrotor UAV flight
02.12.2020
2941735 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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