Sliding Mode Control with Uncertain Model for a Quadrotor UAVs Automatic Visual Landing Problem
This paper considers a quadrotor UAVs automatic landing on unmanned vessels problem,and the quadrotor UAVs model has uncertain parameters.We design a robust flight controller with the variable structure sliding-mode control with precise sliding manifold coefficients to ensure strong position and attitude control.The controller can move the UAV to track the desired position and yaw angle and keep pitch and yaw angles on stable.The $ Lyapunov $ function is used to prove the control system is effective,and the sliding-mode manifold coefficients are obtained by Hurwitz stability analysis.The landing simulation results show the effectiveness of the controller.
UAV Uncertain model Sliding-mode controller Automatic landing Tracking control
Qing Fei Jiaxiang Zhang Zhengyang Wang Xiaosong Huang
Beijing Institute of Technology,Zhongguancun South Street.5,Beijing,China The Institute of Atmospheric Physics,Chinese Academy of Sciences,Qijiahuozi Huayanli.40,Beijing,Chin
国际会议
江苏镇江
英文
226-233
2019-09-20（万方平台首次上网日期，不代表论文的发表时间）