Backstepping sliding mode tracking control of quad-rotor under input saturation

查看全文 作　　者：Xun [1]Gong;Yue [2]Bai;Zhicheng [1]Hou;Changjun [2]Zhao;Yantao [1]Tian;Qiang [2]Sun

机构地区：[1]School of Telecommunication Engineering,Jilin University,Changchun,China;[2]Chang Chun Institute of Optics Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun,China

出　　处：《International Journal of Intelligent Computing and Cybernetics》索引2012年第5卷第4期,共18页

摘　　要：Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability boundedness.The purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these issues.Design/methodology/approach–Considering the dynamics of a quad-rotor,the closed-loop flight control system is divided into two nested loops:the translational outer-loop and the attitude inner-loop.In the outer-loop,the translational controller,which exports the desired attitude angles to the inner-loop,is designed based on bounded control technique.In consideration of the influence of uncertain rotational inertia and external disturbance,the backstepping sliding mode approach with adaptive gains is used in the inner-loop.The switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input saturation.Findings–The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this paper.Furthermore,with relation to the flying,the motor speed is kept in the predetermined scope.Originality/value–This article introduces a new flight control system designed for a quad-rotor. 关键词：Quad-rotor Double-loops Backstepping algorithm Adaptive approximation Bounded control Prototype experiment Genetic algorithms Flight control

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Backstepping sliding mode tracking control of quad-rotor under input saturation

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