文章基本信息

标题：Experimentally Validated Sliding Mode Control of Multi-rotor UAV with Control Signal Constraints
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作者：Yuankang Zhu ; Liuping Wang ; Jyoti Mishra 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：8860-8865
DOI：10.1016/j.ifacol.2020.12.1403
语种：English
出版社：Elsevier
摘要：AbstractThis paper proposes a cascade control strategy for multi-rotor unmanned aerial vehicle, where the inner-loop system is regulated by a sliding mode controller with disturbance observer and the outer-loop controller is a PID controller. Operational constraints are incorporated in the implementation for safety protection of the electronics. Experimental results are obtained to demonstrate the efficacy of the proposed design in comparison to a traditional cascade PID control system.
关键词：Keywordsunmanned aerial vehicledisturbance observercascade controloperational constraintssliding mode control