Control System Design Based on Integral Sliding Mode of Quadrotor

Abstract

Abstract: A double closed-loop control system based on integral sliding mode was proposed to solve the problems of position and attitude control of an under-actuated, nonlinear coupling quadrotor model. An integral sliding mode control method was applied in the inner loop attitude control and a PID controller was designed in the outer loop position control. Due to the under-actuated property of the quadrotor model, desired pitch and roll angles were given by outer loop controller. The stability of the designed control system was proved by Lyapunov stability theorem. Simulation results on Matlab show the effectiveness of the proposed control system and the characteristics of integral sliding mode control.

Key words: quadrotor, integral sliding mode, attitude control, position control, PID control, under- actuated system

CLC Number:

TP272

Chen Zengqiang, Wang Chenlu, Li Yi, Zhang Qing, Sun Mingwei. Control System Design Based on Integral Sliding Mode of Quadrotor[J]. Journal of System Simulation, 2015, 27(9): 2181-2186.

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