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Flight Control for 6-DOF Quadrotor via Sliding Mode Integral Filter

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Intelligent Computing Theories and Application (ICIC 2021)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 12837))

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Abstract

This article mainly focuses on the ability of the quadrotor UAV to follow the desired trajectory when it is subjected to various external disturbances. In order to solve this problem, a closed-loop six-degree-of-freedom full control system will be proposed in the article. The sliding mode integral technology is introduced when designing the filter, which effectively solves the “computational explosion” problem in the traditional backstepping method by avoiding the analytical derivation process of the virtual control input. At the same time, an backstepping controller based on the above command filter is designed. After theoretical analysis, the stability of the closed-loop system is guaranteed, and the effectiveness of this method is further verified through simulation experiments.

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Acknowledgments

This works is partly supported by the Natural Science Foundation of Liaoning, China under Grant 2019MS008, Education Committee Project of Liaoning, China under Grant LJ2019003.

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Authors and Affiliations

  1. College of Control Science and Engineering, Bohai University, Jinzhou, 121013, Liaoning, China

    Zinan Su, Aihua Zhang & Shaoshao Wang

Authors
  1. Zinan Su
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  2. Aihua Zhang
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  3. Shaoshao Wang
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Editor information

Editors and Affiliations

  1. Tongji University, Shanghai, China

    De-Shuang Huang

  2. University of Ulsan, Ulsan, Korea (Republic of)

    Kang-Hyun Jo

  3. Shenzhen University, Shenzhen, China

    Jianqiang Li

  4. Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russia

    Valeriya Gribova

  5. Department of Computer Science, Liverpool John Moores University, Liverpool, UK

    Abir Hussain

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Su, Z., Zhang, A., Wang, S. (2021). Flight Control for 6-DOF Quadrotor via Sliding Mode Integral Filter. In: Huang, DS., Jo, KH., Li, J., Gribova, V., Hussain, A. (eds) Intelligent Computing Theories and Application. ICIC 2021. Lecture Notes in Computer Science(), vol 12837. Springer, Cham. https://doi.org/10.1007/978-3-030-84529-2_13

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  • DOI: https://doi.org/10.1007/978-3-030-84529-2_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-84528-5

  • Online ISBN: 978-3-030-84529-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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