Modeling and Control Simulation of a Tilting Quadrotor Aircraft
The traditional quadrotor belongs to underactuated systems,and the tilting quadrotor model improves its underactuated characteristics which can achieve more flexible flight movements.Aiming at the control realization of the tilting quadrotor model,this paper first models the tilting quadrotor model based on Newton Euler method,and di-vides the control system into two independent modules:position control module and attitude module.The position module designs an integral sliding mode manifold based on backstepping control,and the attitude module designs a sliding mode geometric attitude controller based on the attitude error in SO(3).Finally,the control realization effect of this model is verified and analyzed.The simulation results show that the control method based on the model realizes the tilting hover,and the effectiveness of the control method to suppress interference is verified.
Tilting quadrotorBacksteppingSliding modeGeometric control
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