Dual Channel Maneuver Flight Control Based on Dynamic Inverse and Dynamic Sliding Mode

doi:10.16182/j.issn1004731x.joss.201801019

Abstract

Abstract: In order to solve the flight control problem of mini quadrotor with large angle and fast maneuver, a new dual channel maneuver flight control method based on dynamic inverse (DI) and sliding mode control (SMC) is proposed. By combining SMC and DI, this method makes the system robust to the model uncertainty and aerodynamic interference. The dynamic SMC effectively reduces system’s chattering. New sliding mode surface and quaternion regular model of aircraft attitude are built to improve the control precision and resolve the singular problem of aircraft. The DI improves the system’s dynamic response, and the stability analysis of zero dynamics is given in the inverse system design. The simulation results show the effectiveness of the proposed control scheme.

Key words: dynamic inverse, dynamic sliding mode, maneuver, zero dynamics

CLC Number:

V249.12

Yang Shengyi, Liu Chao, Tang Shengjing, Yang Weili. Dual Channel Maneuver Flight Control Based on Dynamic Inverse and Dynamic Sliding Mode[J]. Journal of System Simulation, 2018, 30(1): 156-164.

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