Hexarotor Attitude Stabilization Based Feedback Linearization and Sliding Mode Controllers

机译：基于Hexarotor姿态稳定的反馈线性化和滑模控制器

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In this paper, a mathematical model of a rotary wing UAV known as HEXAROTOR is derived using Newton-Euler formalism, it takes in count the forces, aerodynamic moments and rotor’s dynamics affecting the UAV motions. Feedback linearization and sliding mode controllers are synthesized in order to stabilize the attitude while tracking yaw and altitude trajectories of the hexarotor. A comparative study has been explored in terms of instant performances, perturbation rejection, energy consumption and parameters uncertainties. Numerical simulations are performed showing the efficiency of the two proposed control techniques.

机译：在本文中，使用牛顿 - 欧拉形式主义导出称为十六发电机的旋翼无人机的数学模型，这需要计算力量，空气动力学时刻和转子的动态影响无人机运动。反馈线性化和滑动模式控制器是合成的，以稳定姿态，同时跟踪连轮球的偏航和高度轨迹。在即时性能，扰动抑制，能量消耗和参数不确定性方面探讨了比较研究。执行数值模拟，示出了两个提出的控制技术的效率。

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《Mediterranean Conference on Control and Automation》|2021年|1143-1148|共6页
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Mounir Yazid; Hakim Bouadi; Nabil Hamdadou; Nacir Hebablia;
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Uncertain systems; Attitude control; Tracking; Perturbation methods; Force; Transforms; Aerodynamics;

机译：不确定的系统;态度控制;跟踪;扰动方法;力;变换;空气动力学;

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Hexarotor Attitude Stabilization Based Feedback Linearization and Sliding Mode Controllers

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