Position and attitude tracking control for a quadrotor UAV based on terminal sliding mode control

• Published in: 2015 34th Chinese Control Conference (CCC) pp. 3398 - 3404
• Main Authors: Weidong, Zhou, Pengxiang, Zhu, Changlong, Wang, Min, Chu
• Format: Conference Proceeding Journal Article
• Language: English
• Published: Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
• Subjects: Angular velocity; Attitude control; chattering free; Control systems; Controllers; Degrees of freedom; disturbance rejection; Mathematical analysis; Mathematical model; Mathematical models; PD control; quadrotor UAV; Rotorcraft; Simulation; Sliding mode control; Terminals; Uncertainty; Unmanned aerial vehicles

This paper investigates a novel control strategy for the position and attitude tracking control problem of a quadrotor UAV based on terminal sliding mode control. To realize the control objective, the model of the quadrotor UAV with six degrees of freedom which is actually a class of underactuated s...