期刊
ADVANCES IN MECHANICAL ENGINEERING
卷 10, 期 7, 页码 -出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/1687814018782330
关键词
Quadrotor; sliding mode control; mismatched disturbance; disturbance observer
资金
- National Natural Science Foundation of China [61573184, 61533008, 61751219]
- Aeronautical Science Foundation of China [20165752049]
In this article, a sliding mode control scheme is proposed for a quadrotor in the presence of an exogenous disturbance. A nonlinear sliding mode surface is constructed based on the estimate output of a disturbance observer to reject the effect of the unknown disturbance in the quadrotor. The desired control performance is achieved by bringing the state from unstable state to stable ones. To show the effectiveness of the developed control scheme, simulation results are provided for illustration of the designed controller based on disturbance observer.
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