Position and Attitude Control of Quadrotor UAV with Model Uncertainties and Unknown Disturbances
An adaptive sliding mode control method is proposed for the control problem of a quadrotor UAV composed of six degrees of freedom under model uncertainties and unknown disturbances.This method can be used to realize position and attitude tracking control of quadrotor UAV Firstly,based on the dynamics quadrotor system,the fully actuated and under-actuated subsystems are divided.The model uncertainties and unknown disturbances without upper and lower limit constraints are fully considered,and the lumped disturbance terms of each subsystem are extracted;Then,with the help of radial basis function neural net-work,the real-time approximation and estimation of the equivalent controller containing the extracted lumped disturbance terms are inplemented in progress.At the same time,adaptive control method is used to estimate the approximation error term.The sliding mode controller with the estimated values of the equiva-lent controller and approximation error terms and the corresponding adaptive update laws are designed.Based on Lyapunov theory,the reachability and convergence of the sliding mode surface where the state traj-ectories of each subsystem lies are analyzed and introduced.Finally,the comparative simulations are used to verify the effectiveness of the proposed method fairly well.
Quadrotor UAVAdaptive sliding mode controlRadial basis function neural networkPosi-tion and attitude control
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