Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer

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Bibliographische Detailangaben
Zeitschriftentitel:	Journal of Physics: Conference Series
Personen und Körperschaften:	Wang, Zitong, Wan, Youhong
In:	Journal of Physics: Conference Series, 1267, 2019, 1, S. 012096
Format:	E-Article
Sprache:	Unbestimmt
veröffentlicht:	IOP Publishing
Schlagwörter:	General Physics and Astronomy

Details
Zusammenfassung:	<jats:title>Abstract</jats:title> <jats:p>This paper designs a sliding mode self-pose attitude controller for a quadrotor unmanned aerial vehicle (UAV) system based on proportional integral observer, which also considers the problem of external disturbances. In this paper, firstly, considering the influence of external disturbance, a proportional integral observer is developed to contains the ratio of the estimated error and the integral loopobtain, and obtain both the estimation of the system state and unknown input. Then, the stability of the state estimation error of the proportional integral observer is proved. Thirdly, based on the results of the proportional integral observer, a sliding mode attitude controller is designed. This method is simple and easy to implement, which can improve the system robustness and eliminate the chattering phenomenon existing in the traditional sliding mode control. Finally, the simulation results show that the UAV system achieves better control effect and dynamic performance.</jats:p>
Umfang:	012096
ISSN:	1742-6588 1742-6596
DOI:	10.1088/1742-6596/1267/1/012096