Trajectory Tracking Control for a Quadrotor UAV Based on Sliding Mode Theory
YANG Jianhua
Abstract：According to the characteristics of the Quadrotor Helicopter control system—strong coupling,complex nonlinear, under-actuated,a trajectory tracking sliding mode controller using inner and outer loop structure with high accuracy is proposed. Outer ring is to realize position tracking control while the inner ring is to realize the attitude tracking control. In the position control subsystem,the external interference and mass of system are adaptively estimated. The stability and convergence characteristics are proved by constructing Lyapunov function. The simulation results show that the control system has strong robustness and stability.
Keywords：quadrotor helicoptersliding mode controlposition trackingrobustness
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 1740-1743,1754 )