Experimentally Validated Sliding Mode Control of Multi-rotor UAV with Control Signal Constraints

Yuankang Zhu; Liuping Wang; Jyoti Mishra

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Experimentally Validated Sliding Mode Control of Multi-rotor UAV with Control Signal Constraints

机译：用控制信号约束的多转子UAV进行实验验证的滑动模式控制

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This paper proposes a cascade control strategy for multi-rotor unmanned aerial vehicle, where the inner-loop system is regulated by a sliding mode controller with disturbance observer and the outer-loop controller is a PID controller. Operational constraints are incorporated in the implementation for safety protection of the electronics. Experimental results are obtained to demonstrate the efficacy of the proposed design in comparison to a traditional cascade PID control system.

机译：本文提出了一种用于多转子无人空中车辆的级联控制策略，其中内环系统由具有干扰观察者的滑动模式控制器调节，外环控制器是PID控制器。操作系统在实施方面纳入了电子设备的安全保护。获得实验结果以证明所提出的设计与传统的级联PID控制系统相比的功效。

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《IFAC PapersOnLine》 |2020年第2期|共6页
作者
Yuankang Zhu; Liuping Wang; Jyoti Mishra;
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unmanned aerial vehicledisturbance observercascade controloperational constraintssliding mode control;

机译：无人驾驶航空驾驶空间异药观察者斯卡斯特控制权限约束持续模式控制;

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1. Experimental Validation of an Integral Sliding Mode-Based LQG for the Pitch Control of a UAV-mimicking Platform [J] . Said Khan, Samir Bendoukha, Wasif Naeem, Advances in Electrical and Electronic Engineering . 2019,第3期

机译：基于整体滑模的LQG用于无人机模拟平台俯仰控制的实验验证
2. Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints [J] . Guoqiang Zhu, Sen Wang, Lingfang Sun, Complexity . 2020,第1期

机译：输出反馈适应性动态表面滑动模式控制，用于跟踪误差约束的Quadrotor UVS
3. Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints: A workflow to create sensor constraint based potential functions for the control of cooperative localization scenarios with mobile robots [J] . Dentler Jan, Kannan Somasundar, Bezzaoucha Souad, Autonomous robots . 2019,第1期

机译：模型使用潜在函数传感器约束的多个无人机的模型预测协作定位控制：一种创建基于传感器约束的工作流程，用于控制与移动机器人的合作本地化方案的潜在功能
4. Co-design of Control and Planning for Multi-rotor UAVs with Signal Temporal Logic Specifications [C] . Yash Vardhan Pant, He Yin, Murat Arcak, Annual American Control Conference . 2021

机译：具有信号时间逻辑规范的多转子无人机控制和规划的共同设计
5. Experimental investigation of the boundary layer-based sliding mode control and single-input model-based sliding mode fuzzy logic control with applications to robot manipulators. [D] . Hasanaj, Edmir Reshit. 2000

机译：基于边界层的滑模控制和基于单输入模型的滑模模糊逻辑控制的实验研究及其在机器人操纵器中的应用。
6. A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs [O] . Thiago F. K. Cordeiro, João Y. Ishihara, Henrique C. Ferreira 2020

机译：无人机群的分散式低抖动滑模编队飞行控制器
7. Robust Tracking Control for Multi-rotor UAVs Using Sliding Mode Control [O] . Kazuki UMEMOTO, Takuya IKEDA, Fumitoshi MATSUNO 2014

机译：使用滑模控制的多转子无人机的鲁棒跟踪控制

Experimentally Validated Sliding Mode Control of Multi-rotor UAV with Control Signal Constraints

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