A Sliding Mode Controller of Quadrotor Based on Unit Quaternion

Yue Yue Lv; Wei Huang; Juan Liu; Zheng Fu Peng

doi:10.4028/www.scientific.net/AMM.536-537.1087

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 536-537A Sliding Mode Controller of Quadrotor Based on...

A Sliding Mode Controller of Quadrotor Based on Unit Quaternion

Abstract:

In this paper, quaternionbased mathematical model of Quadrotor without singularity is established to avoid Gimbal Lock problem in Euler angles. Flight control algorithm based on sliding mode variable structure control (SMVSC) is introduced to control the attitude and position to approach the challenge of underactuation, nonlinearity and strong coupling. Numerical simulation is conducted to prove the effectiveness of the proposed method.

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Periodical:

Applied Mechanics and Materials (Volumes 536-537)

Pages:

1087-1092

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.536-537.1087

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Online since:

April 2014

Authors:

Yue Yue Lv, Wei Huang*, Juan Liu, Zheng Fu Peng

Keywords:

Dynamics Model, Quadrotor, Quaternion, Sliding Mode Control

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* - Corresponding Author

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