Here, the attitude control of a quadrotor aircraft subject to a class of disturbances is studied. Unlike disturbances mentioned in most of the existing literature, the disturbance considered here is time varying and non-vanished. An extended observer is designed to estimate the disturbance by treating it as a new unknown state. Based on the estimation, a feedback controller with a sliding mode term is designed to stabilise the attitude of the quadrotor. Furthermore, to avoid the discontinuity of the control law caused by the sliding mode term, a modified sliding mode term is designed. The resulting continuous feedback controller makes the attitude error uniformly ultimate bounded. Theoretical results are confirmed by numerical simulations.


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    Title :

    Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances


    Contributors:
    Zhang, R. (author) / Quan, Q. (author) / Cai, K.Y. (author)

    Published in:

    Publication date :

    2011


    Size :

    7 Seiten, 17 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English






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