Model-free–based terminal SMC of quadrotor attitude and position

Haoping Wang; Xuefei Ye; Yang Tian; Gang Zheng; Nicolai Christov

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Model-free–based terminal SMC of quadrotor attitude and position

机译：基于四轮姿态和位置的基于模型的终端SMC

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摘要

In this paper, a model-free-based terminal sliding-mode control (MFTSMC) strategy is developed to control the attitude and position of a quadrotor whose model includes parameter variations, uncertainties, and external disturbances. The proposed MFTSMC combines a model-free control approach with a sliding-mode technique and makes possible to eliminate the tracking error in a finite time. To demonstrate the performance and effectiveness of the proposed MFTSMC, numerical simulation results have been obtained and compared with corresponding results for PID, backstepping and sliding-mode controls.

机译：本文提出了一种基于无模型的终端滑模控制（MFTSMC）策略来控制四旋翼飞机的姿态和位置，该模型的模型包括参数变化，不确定性和外部干扰。所提出的MFTSMC将无模型控制方法与滑模技术相结合，并有可能在有限时间内消除跟踪误差。为了证明所提出的MFTSMC的性能和有效性，已经获得了数值模拟结果，并将其与PID，反推和滑模控制的相应结果进行了比较。

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来源
《IEEE Transactions on Aerospace and Electronic Systems》 |2016年第5期|2519-2528|共10页
作者
Haoping Wang; Xuefei Ye; Yang Tian; Gang Zheng; Nicolai Christov;
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作者单位

LaFCAS, Nanjing University of Science & Technology Nanjing, China;

LaFCAS, Nanjing University of Science & Technology Nanjing, China;

LaFCAS, Nanjing University of Science & Technology Nanjing, China;

INRIA Lille-Nord Europe Villeneuve-d’Ascq, France and LaFCAS Nanjing, China;

Villeneuve-d’Ascq, France and LaFCAS Nanjing, China;

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正文语种 eng
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关键词
Mathematical model; Attitude control; Sliding mode control; Aerodynamics; Uncertainty; Estimation; Rotors;

机译：数学模型姿态控制滑模控制空气动力学不确定度估计转子;

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1. Position and attitude tracking of uncertain quadrotor unmanned aerial vehicles based on non-singular terminal super-twisting algorithm [J] . Alqaisi Walid, Kali Yassine, Ghommam Jawhar, Proceedings of the Institution of Mechanical Engineers . 2020,第3期

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2. Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance [J] . Omid Mofid, Saleh Mobayen, Wing-Kwong Wong Quality Control, Transactions . 2021,第1期

机译：适应终端滑动模式控制，用于态度和位置跟踪控制外部干扰存在的态度和位置跟踪控制
3. Model-free attitude synchronization for multiple heterogeneous quadrotors via reinforcement learning [J] . Wanbing Zhao, Hao Liu, Bohui Wang International Journal of Intelligent Systems . 2021,第6期

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4. Model-Free Control Using Nonlinear Extended State Observer and Non-singular Fast Terminal Sliding Mode for Quadrotor Position and Attitude [C] . Dingxin He, Haoping Wang, Yang Tian Chinese Control Conference . 2020

机译：使用非线性扩展状态观测器和非奇异快速终端滑模的四旋翼位置和姿态的无模型控制
5. A Variable Pitch Quadrotor with Quaternion Based Attitude Controller [D] . Guentert, Paul Hans. 2017

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6. Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm [O] . Dongdong Yuan, Yankai Wang 2021

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7. Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm [O] . Dongdong Yuan, Yankai Wang 2021

机译：基于升高和ISMC算法的四轮压发电机形成轨迹跟踪的数据驱动模型自适应控制方法

Model-free–based terminal SMC of quadrotor attitude and position

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