滑模控制:一种控制四旋翼飞行器的方法

2015 Asia-Pacific Conference on Computer Aided System Engineering Pub Date : 2015-07-14 DOI:10.1109/APCASE.2015.62

M. Herrera, A. Gómez, W. Chamorro, O. Camacho

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引用次数: 51

摘要

本文介绍了基于滑模理论的四转子控制器的综合与应用。考虑了垂直起降飞机的PD滑动面，对其角度进行了变化，并考虑了一些扰动。因此，控制器可以用PD控制器作为滑动面来实现，并添加一些代数，给出了完整的控制器算法。通过仿真对控制器进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Sliding Mode Control: An Approach to Control a Quadrotor

This paper describes the synthesis and application of controller based on sliding mode theory to a quad rotor. A PD sliding surface is considered for vertical take-off and landing aircraft, also changes in angles are done, and some disturbances are included. Therefore, the controller can be implemented using a PD controller as the sliding surface, and adding some algebra the complete controller algorithm is presented. The controller is tested by simulations.

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2015 Asia-Pacific Conference on Computer Aided System Engineering

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