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Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer
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| Zeitschriftentitel: | Journal of Physics: Conference Series |
|---|---|
| Personen und Körperschaften: | , |
| In: | Journal of Physics: Conference Series, 1267, 2019, 1, S. 012096 |
| Format: | E-Article |
| Sprache: | Unbestimmt |
| veröffentlicht: |
IOP Publishing
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| Schlagwörter: |
| author_facet |
Wang, Zitong Wan, Youhong Wang, Zitong Wan, Youhong |
|---|---|
| author |
Wang, Zitong Wan, Youhong |
| spellingShingle |
Wang, Zitong Wan, Youhong Journal of Physics: Conference Series Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer General Physics and Astronomy |
| author_sort |
wang, zitong |
| spelling |
Wang, Zitong Wan, Youhong 1742-6588 1742-6596 IOP Publishing General Physics and Astronomy http://dx.doi.org/10.1088/1742-6596/1267/1/012096 <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> Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer Journal of Physics: Conference Series |
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Journal of Physics: Conference Series |
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| title |
Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_unstemmed |
Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_full |
Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_fullStr |
Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_full_unstemmed |
Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_short |
Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_sort |
sliding mode attitude control of quadrotor uav based on proportional integral observer |
| topic |
General Physics and Astronomy |
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http://dx.doi.org/10.1088/1742-6596/1267/1/012096 |
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2019 |
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012096 |
| description |
<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> |
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| author | Wang, Zitong, Wan, Youhong |
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| author_sort | wang, zitong |
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| container_title | Journal of Physics: Conference Series |
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| description | <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> |
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| spelling | Wang, Zitong Wan, Youhong 1742-6588 1742-6596 IOP Publishing General Physics and Astronomy http://dx.doi.org/10.1088/1742-6596/1267/1/012096 <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> Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer Journal of Physics: Conference Series |
| spellingShingle | Wang, Zitong, Wan, Youhong, Journal of Physics: Conference Series, Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer, General Physics and Astronomy |
| title | Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_full | Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_fullStr | Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_full_unstemmed | Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_short | Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| title_sort | sliding mode attitude control of quadrotor uav based on proportional integral observer |
| title_unstemmed | Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer |
| topic | General Physics and Astronomy |
| url | http://dx.doi.org/10.1088/1742-6596/1267/1/012096 |