Robust Chattering Free Backstepping/Backstepping Sliding Mode Control for Quadrotor Hovering
This paper presents a design method of robust nonlinear controller with inner-outer loop structure (robust chattering free backstepping/backstepping sliding mode controller).Because backstepping control and sliding mode control are in nature two different robust controllers,the combination of them brings up a controller which has stronger robustness for synthesizing their advantages.In this paper,the chattering of backstepping sliding mode controller can be effectively prevented by substituting sign function of the sliding mode exponential approaching rate with a simple saturation function.The controller adopts inner-outer loop control structure.The inner loop is used to stabilize attitude by adopting backstepping sliding mode controller.The outer loop is used to track position by adopting backstepping controller.Simulation results show that the control strategy proposed in this paper is effective and has strong robustness in the presence of aerodynamic torque disturbance and parameter uncertainty.
quadrotor helicopter hovering backstepping sliding mode controller chattering free robustness
ZeFang He Long Zhao Long Zhao
School of automation science and electrical engineering Beihang University Beijing,China Science and Technology on Aircraft Control Laboratory Beihang University Beijing,China
国际会议
重庆
英文
616-620
2016-03-20（万方平台首次上网日期，不代表论文的发表时间）