Feedback linearization and continuous sliding mode control for a quadrotor UAV

This paper presents a continuous sliding mode control method based on feedback linearization, an output tracking control is designed for the system. A discontinuous sliding mode control can be changed into a continuous one by dynamical extending the nonlinear system. The problem of zero dynamics fro...

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Bibliographic Details
Published in2008 27th Chinese Control Conference pp. 349 - 353
Main Authors Zhou Fang, Zhang Zhi, Liang Jun, Wang Jian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2008
Subjects
Aerodynamics
Continuous sliding mode control
Dynamical extend
Facsimile
Feedback linearization
Force
Helicopters
Nonlinear systems
Output tracking control
Rotors
Torque
Unmanned quadrotor
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Summary:This paper presents a continuous sliding mode control method based on feedback linearization, an output tracking control is designed for the system. A discontinuous sliding mode control can be changed into a continuous one by dynamical extending the nonlinear system. The problem of zero dynamics from the state feedback exact linearization process can be solved by placing two integrators in front of partial control input, and realize the decoupling control. The control method in this paper compared with sliding control based on backstepping technique, it overcomes the disadvantage of sliding mode control just as chatting phenomenon, and it has no need to design the complex Lynapunov function according to the backstepping method. The simulation result shows that the control law prescribed in this paper can follow up the given signal.
ISSN:1934-1768
2161-2927
DOI:10.1109/CHICC.2008.4605334