Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances

R. Zhang; Q. Quan; K.-Y. Cai

Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances

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Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances

Author(s): R. Zhang ; Q. Quan ; K.-Y. Cai
DOI: 10.1049/iet-cta.2010.0273

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Author(s): R. Zhang ¹ ; Q. Quan ^{1, 2} ; K.-Y. Cai ¹
- Affiliations: 1: Department of Automatic Control, Beijing University of Aeronautics and Astronautics (Beihang University), Beijing, People's Republic of China
  2: State Key Laboratory of Virtual Reality Technology and Systems, Beijing University, Beijing, People's Republic of China
Source: Volume 5, Issue 9, 16 June 2011, p. 1140 – 1146
DOI: 10.1049/iet-cta.2010.0273 , Print ISSN 1751-8644, Online ISSN 1751-8652

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Here, the attitude control of a quadrotor aircraft subject to a class of disturbances is studied. Unlike disturbances mentioned in most of the existing literature, the disturbance considered here is time varying and non-vanished. An extended observer is designed to estimate the disturbance by treating it as a new unknown state. Based on the estimation, a feedback controller with a sliding mode term is designed to stabilise the attitude of the quadrotor. Furthermore, to avoid the discontinuity of the control law caused by the sliding mode term, a modified sliding mode term is designed. The resulting continuous feedback controller makes the attitude error uniformly ultimate bounded. Theoretical results are confirmed by numerical simulations.

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Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances

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