Nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors

作者：Zou, Yao^*

来源：International Journal of Robust and Nonlinear Control, 2017, 27(6): 925-941.

DOI：10.1002/rnc.3607

• quadrotors
• hierarchical strategy
• adaptive sliding mode control
• projection algorithm
• auxiliary dynamic system

This paper exploits a nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors subject to thrust constraint and inertial parameter uncertainty to accomplish trajectory tracking missions. Because of under-actuated nature of the quadrotor, a hierarchical control strategy is available; and position and attitude loop controllers are synthesized according to adaptive sliding mode control projects, where adaptive updates with projection algorithm are developed to ensure bounded estimations for uncertain inertial parameters. Further, during the position loop controller development, an auxiliary dynamic system is introduced, and selection criteria for controller parameters are established to maintain the thrust constraint and to ensure the non-singular requirement of command attitude extraction. It has demonstrated that, the asymptotically stable trajectory tracking can be realized by the asymptotically stable cascaded closed-loop system and auxiliary dynamic system. Simulations validate and highlight the proposed control approach.

• 出版日期2017-4-1
• 单位北京航空航天大学