For Wang, Lijun unmanned aerial vehicle(UAV) with unknown control direction,Deng, Wencong the Nussbaum gain method is introduced into Liu, Jinkun sliding mode method to control the position and Mei, Rong of the quadrotor UAV. By decomposing the quadrotor UAV system into position subsystem and attitude subsystem, the intermediate control input is introduced to track the 3-DOF position information. The Nussbaum gain function is used to solve the problem of unknown control direction, and an adaptive law is designed to ensure the boundedness of all signals. Based on the Lyapunov theory, the stability of the closed-loop system is guaranteed. Finally the effectiveness of the proposed control method is verified by the simulation results.
Adaptive Sliding Mode Trajectory Tracking Control of Quadrotor UAV with Unknown Control Direction
Lect. Notes Electrical Eng.
Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019) ; Chapter : 56 ; 597-607
2019-12-04
11 pages
Article/Chapter (Book)
Electronic Resource
English
Quadrotor UAV , Nussbaum gain function , Unknown control direction , Adaptive sliding mode control , Trajectory tracking control Artificial Intelligence , Data-driven Science, Modeling and Theory Building , Power Electronics, Electrical Machines and Networks , Computational Intelligence , Control and Systems Theory , Engineering , Robotics and Automation
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