Title: Model-Following Sliding Mode Control of UAVs Based on the Nonlinear Disturbance Observer
Abstract:In this paper, based on the nonlinear disturbance observer, the model-following sliding mode controller is designed for the UAVs flight control system. First, the nonlinear disturbance observer is des...In this paper, based on the nonlinear disturbance observer, the model-following sliding mode controller is designed for the UAVs flight control system. First, the nonlinear disturbance observer is designed to observe the disturbance of the system, which converts the observed disturbance into the corresponding input. Then, the advantages of model following and sliding mode control are employed. Through Linear Quadratic Regulator method, the sliding surface is designed to make the sliding mode have good dynamic characteristics and to eliminate the steady state error. The simulations results demonstrate that the UAVs flight control system using the proposed method not only reduces the chattering, but also achieves satisfactory model following performance.Read More
Publication Year: 2012
Publication Date: 2012-04-06
Language: en
Type: article
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