Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
847519 | Optik - International Journal for Light and Electron Optics | 2016 | 5 Pages |
Abstract
This paper mainly addresses the position and attitude tracking control for a small quadrotor UAV via discrete-time sliding mode control (DSMC). Firstly, the linear extrapolation method is used to transform the continuous-time system into discrete-time system. Based on the discrete-time system, the discrete-time flight controllers are designed to perform position and attitude tracking control of the quadrotor UAV. In addition, new conditions are given ensuring the discrete-time system is asymptotically stable. Lastly, based on the kinematic and dynamic model of the quadrotor UAV, extensive simulations are performed to illustrate that the proposed control method has a good performance in terms of stabilization and tracking control.
Related Topics
Physical Sciences and Engineering
Engineering
Engineering (General)
Authors
Jing-Jing Xiong, Guobao Zhang,