Control System Design Based on Integral Sliding Mode of Quadrotor

Authors

Zengqiang Chen, 1. Key Lab of Intelligent Robotics, College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;;2. College of Science, Civil Aviation University of China, Tianjin 300300, China;
Chenlu Wang, 1. Key Lab of Intelligent Robotics, College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;;
Li Yi, 1. Key Lab of Intelligent Robotics, College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;;
Zhang Qing, 2. College of Science, Civil Aviation University of China, Tianjin 300300, China;
Mingwei Sun, 1. Key Lab of Intelligent Robotics, College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;;

Abstract

Abstract: A double closed-loop control system based on integral sliding mode was proposed to solve the problems of position and attitude control of an under-actuated, nonlinear coupling quadrotor model. An integral sliding mode control method was applied in the inner loop attitude control and a PID controller was designed in the outer loop position control. Due to the under-actuated property of the quadrotor model, desired pitch and roll angles were given by outer loop controller. The stability of the designed control system was proved by Lyapunov stability theorem. Simulation results on Matlab show the effectiveness of the proposed control system and the characteristics of integral sliding mode control.

Recommended Citation

Chen, Zengqiang; Wang, Chenlu; Yi, Li; Qing, Zhang; and Sun, Mingwei (2020) "Control System Design Based on Integral Sliding Mode of Quadrotor," Journal of System Simulation: Vol. 27: Iss. 9, Article 34.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss9/34

First Page

2181

Revised Date

2015-07-30

DOI Link

https://doi.org/

Last Page

2186

CLC

TP272

Recommended Citation

Chen Zengqiang, Wang Chenlu, Li Yi, Zhang Qing, Sun Mingwei. Control System Design Based on Integral Sliding Mode of Quadrotor[J]. Journal of System Simulation, 2015, 27(9): 2181-2186.