This paper investigates the quadrotor attitude tracking control problem in the presence of external disturbance and inertia uncertainty. An error quaternion based adaptive sliding mode control scheme is proposed in this paper. Adaptive control theory is applied to estimate inertia parameters and the upper bound of external disturbance. Lyapunov stability theory is applied to prove the stability of the controller. Simulation results are presented to demonstrate the performance and robustness of the controller.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Chattering free sliding adaptive attitude control for quadrotor


    Contributors:
    Zhi Li (author) / Xin Ma (author) / Zhigang Xu (author) / Yafang Wang (author) / Yibin Li (author)


    Publication date :

    2016-08-01


    Size :

    909274 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English