TY - GEN
T1 - Research on adaptive backstepping sliding mode control method for a hex-rotor Unmanned Aerial Vehicle
AU - Zhang, Zhuo
AU - Liu, Zhenghua
AU - Wen, Nuan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - This paper concentrates on attitude control and spot hover about the hex-rotor Unmanned Aerial Vehicle (UAV). First of all, according to the Newton - Euler equation, set up the equations of motion in inertial frame. Then based on the characteristics of the hex-rotor UAV model, adaptive backstepping sliding mode controllers are designed to realize the attitude and position control. Finally, the control strategy is verified by the simulation. It's proved that the control system has strong robustness to both the disturbance and the parametric variation.
AB - This paper concentrates on attitude control and spot hover about the hex-rotor Unmanned Aerial Vehicle (UAV). First of all, according to the Newton - Euler equation, set up the equations of motion in inertial frame. Then based on the characteristics of the hex-rotor UAV model, adaptive backstepping sliding mode controllers are designed to realize the attitude and position control. Finally, the control strategy is verified by the simulation. It's proved that the control system has strong robustness to both the disturbance and the parametric variation.
KW - Adaptive Backstepping Control
KW - Robustness
KW - Sliding Mode Control
KW - The Hex-rotor UAV
UR - https://www.scopus.com/pages/publications/85015149109
U2 - 10.1109/CGNCC.2016.7828844
DO - 10.1109/CGNCC.2016.7828844
M3 - 会议稿件
AN - SCOPUS:85015149109
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 547
EP - 552
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -