Abstract
In this paper, sliding mode control(SMC) and adaptive tracking control are given to perform the position and attitude control of quadrotor unmanned aerial vehicle(UAV) model. For the double closed-loop control system, SMC is used in the inner loop position subsystem control. In the inner loop subsystem, the virtual attitude angles of attitude subsystem tracking control are calculated. The adaptive tracking control is applied in the outer loop attitude subsystem control with input saturation constraints. Subsequently, the auxiliary design system is introduced to analyze the impact of input constraint, and its states are used for adaptive tracking control design. Then, the internal uncertainties and the external disturbances will be observed and compensated by extended state observer (ESO). Finally, simulation studies are presented to illustrate the effectiveness of the proposed SMC and adaptive tracking control.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
