A Robust Adaptive Sliding Mode Control Method for Attitude Control of the Quad-Rotor

Yong Gao; Zhao Qing Song; Xiao Liu

doi:10.4028/www.scientific.net/AMR.852.391

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 852A Robust Adaptive Sliding Mode Control Method for...

A Robust Adaptive Sliding Mode Control Method for Attitude Control of the Quad-Rotor

Abstract:

Quad-rotor is a multi-variable and strong coupling system which has nonlinear and uncertainties. According to the quad-rotor, a dynamic model of attitude which included uncertainty parameters and unknown disturbances was established. The tracking error state was used to design a slide mode surface, and a Lyapunov function which includes slide mode surface and unknown parameter was built. Further more, a robust adaptive control law was designed. At last, the designed control law was simulated, and the results justify the feasibility of the proposed control law.

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Periodical:

Advanced Materials Research (Volume 852)

Pages:

391-395

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.852.391

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Online since:

January 2014

Authors:

Yong Gao, Zhao Qing Song, Xiao Liu

Keywords:

Attitude, Quad-Rotor, Robust Adaptive Control, Slide Mode

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