文章基本信息

标题：Robust Altitude and Attitude Sliding Mode Controllers for Quadrotors
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作者：Boussad Abci ; Gang Zheng ; Denis Efimov 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：2720-2725
DOI：10.1016/j.ifacol.2017.08.576
语种：English
出版社：Elsevier
摘要：AbstractThis paper considers the problem of attitude and altitude control of quadrotors using the sliding mode control theory. The mathematical model of the quadrotor is derived using the Euler-Newton formalism with extended assumptions on disturbing aerodynamical forces (not necessary uniformly bounded). The proposed control demonstrates an enhanced robustness against such disturbances. The comparison between the classical controller and the proposed one is demonstrated analytically, through Lyapunov theory, and in simulations to validate the proposed sliding mode control algorithm.
关键词：KeywordsSliding-mode controlrobustnessstability analysisLyapunov stabilityquadrotorsNewton-Euler equations