Chaohui Du
ABSTRACT
In this paper, robust tracking control for quadrotor UAV based on sliding mode control algorithms is discussed for attitude and position tracking. In detail, firstly, UAV model is built and simplified for developing the sliding mode control algorithms. Secondly, a trajectory tracking method of UAV based on sliding mode control is given based on the model. Then, the stability of the control system is proved by constructing Lyapunov function. Finally, through the Simulink simulation, compared with the traditional PD control method, it is verified that the sliding mode control has faster response speed and better anti-disturbance performance.
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Index Terms
- Robust Tracking Control for Quadrotor UAV using Sliding Mode Control Algorithm
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