Attitude Control for Ducted Fan UAV Based on Sliding Mode Adaptive Algorithm

Abstract:

According to the complicated condition and special dynamic performance of the Ducted Fan UAV, a nonlinear multiple input and multiple output control method is designed. This method is based on the sliding mode adaptive theory. Introducing the integral term, this method can work without the derivative value of the tracked signal; even the derivative doesnt exist or cannot be got. The adaptive control can identify the uncertain parameters and external disturbance, and adjust the controllers parameters real-time. Using a low-pass filter can effectively inhibit the chattering phenomenon in sliding mode control system. The Ducted Fan UAV attitude is controlled by this method. The simulation results show that this method has strong robustness and good tracking performance.

• Periodical: Applied Mechanics and Materials (Volumes 513-517)
• Pages: 3915-3918
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.513-517.3915
• Online since: February 2014
• Authors: Xiao Lu Ren, Chang Hong Wang, Guo Xing Yi*
• Keywords: Attitude Control, Nonlinear, Sliding Mode Adaptive, Unmanned Aerial Vehicle (UAV)

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