Adaptive Sliding Mode Control for Quadrotor Helicopters

摘要：

　　This paper proposes an adaptive method based on sliding mode control for quadrotor helicopters.The flight control system of quadrotor helicopters is a typical nonlinear and uncertain system.Sliding mode control (SMC) is a robust method to control nonlinear and uncertain systems,and can keep the system insensitive to uncertainties on the sliding surface.However,its design requires the knowledge of the bound on the uncertainties,and sometimes it could be a hard task to estimate accurately the bound.The goal is to design an adaptive control law based on sliding mode control without the knowledge of uncertainties and perturbations bound.This adaptive methodology provides a minimum value of control gain K(t) resulting in minimization of the chattering effect.In order to adjust quickly the control gain K(t),the attenuation factor is introduced in the region of quasi sliding mode in this paper.Finally,Simulation results demonstrate the effectiveness of the proposed control method.

关键词： Adaptive Sliding mode control Quadrotor helicopters Attenuation factor

作者: LI Sen LI Baokui GENG Qingbo

作者单位: Beijing Institute of Technology ,Beijing 100081,P. R. China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 71-76

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）