Discrete-time sliding mode control for a quadrotor UAV

作者：Xiong, Jing-Jing^*; Zhang, Guobao^*

来源：Optik, 2016, 127(8): 3718-3722.

DOI：10.1016/j.ijleo.2016.01.010

• Quadrotor UAV
• Discrete-time sliding mode control
• Tracking control
• Discrete-time system

This paper mainly addresses the position and attitude tracking control for a small quadrotor UAV via discrete-time sliding mode control (DSMC). Firstly, the linear extrapolation method is used to transform the continuous-time system into discrete-time system. Based on the discrete-time system, the discrete time flight controllers are designed to perform position and attitude tracking control of the quadrotor UAV. In addition, new conditions are given ensuring the discrete-time system is asymptotically stable. Lastly, based on the kinematic and dynamic model of the quadrotor UAV, extensive simulations are performed to illustrate that the proposed control method has a good performance in terms of stabilization and tracking control.

• 出版日期2016
• 单位东南大学