Sliding Mode Backstepping Control for Variable Mass Hexa-Rotor UAV
| Autor: | Nam-Sik. Kim, Tae-Yong Kuc |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Underactuation 020208 electrical & electronic engineering 02 engineering and technology Sliding mode control Attitude control Tracking error 020901 industrial engineering & automation Control theory Backstepping 0202 electrical engineering electronic engineering information engineering Trajectory Robust control |
| Zdroj: | 2020 20th International Conference on Control, Automation and Systems (ICCAS). |
| DOI: | 10.23919/iccas50221.2020.9268410 |
| Popis: | The mass of an Unmanned Aerial Vehicles (UAV) alters while picking up or dropping off a mass. The variable mass will deteriorate the control performance of the UAV. This deteriorated control performance generates unstable motor output and leads to power loss. To solve this problem, a mathematical model considering variable mass in real time is proposed in this paper. Based on the established model, taking position and attitude tracking control problem into consideration, a robust control scheme is then designed via Sliding Mode Control (SMC). Backstepping method is used to track the attitude of UAV underactuated system. The proposed controller adapts to the change of mass to control the UAV and stabilizes the position error and the attitude tracking error along the desired trajectory for the position tracking. Stabilized position, attitude and reduced errors are verified through simulation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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