Experimentally Validated Sliding Mode Control of Multi-rotor UAV with Control Signal Constraints
| Autor: | Jyoti P. Mishra, Yuankang Zhu, Liuping Wang |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Rotor (electric) 020208 electrical & electronic engineering Mode (statistics) PID controller 02 engineering and technology Sliding mode control law.invention 020901 industrial engineering & automation Control and Systems Engineering Control theory Cascade law 0202 electrical engineering electronic engineering information engineering Control signal Electronics |
| Zdroj: | IFAC-PapersOnLine. 53:8860-8865 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2020.12.1403 |
| Popis: | This paper proposes a cascade control strategy for multi-rotor unmanned aerial vehicle, where the inner-loop system is regulated by a sliding mode controller with disturbance observer and the outer-loop controller is a PID controller. Operational constraints are incorporated in the implementation for safety protection of the electronics. Experimental results are obtained to demonstrate the efficacy of the proposed design in comparison to a traditional cascade PID control system. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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