Open AccessSliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer
Author(s) -
Zitong Wang,
Youhong Wan
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1267/1/012096
Subject(s) - integral sliding mode , control theory (sociology) , robustness (evolution) , observer (physics) , state observer , computer science , sliding mode control , mode (computer interface) , controller (irrigation) , stability (learning theory) , control (management) , physics , artificial intelligence , nonlinear system , biochemistry , chemistry , quantum mechanics , biology , agronomy , gene , machine learning , operating system
This paper designs a sliding mode self-pose attitude controller for a quadrotor unmanned aerial vehicle (UAV) system based on proportional integral observer, which also considers the problem of external disturbances. In this paper, firstly, considering the influence of external disturbance, a proportional integral observer is developed to contains the ratio of the estimated error and the integral loopobtain, and obtain both the estimation of the system state and unknown input. Then, the stability of the state estimation error of the proportional integral observer is proved. Thirdly, based on the results of the proportional integral observer, a sliding mode attitude controller is designed. This method is simple and easy to implement, which can improve the system robustness and eliminate the chattering phenomenon existing in the traditional sliding mode control. Finally, the simulation results show that the UAV system achieves better control effect and dynamic performance.