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A Parallel-Structure-Based Sliding Mode Control for Trajectory Tracking of a Quadrotor UAV
Yu Hei-Pei,Wang Minyi,Yang Jiaqianhao,Xiong Jing-Jing 대한전기학회 2023 Journal of Electrical Engineering & Technology Vol.18 No.5
In this paper, aiming at the problem of incomplete yaw angle working range in a class of sliding mode control for quadrotor unmanned aerial vehicle (UAV), a parallel-structure-based sliding mode control (PSMC) method is proposed. Firstly, the dynamic model of the quadrotor UAV is considered to be composed of fully actuated subsystem and underactuated subsystem. For the fully actuated subsystem, the regular sliding mode manifold is used to design the controller. For the underactuated subsystem, the coordinate transformation of the error is taken into account in the sliding mode manifold. The coefficients of the sliding mode manifold can be obtained by the Hurwitz stability analysis. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory. Finally, comparative simulation results show that the PSMC not only improve the working range of yaw angle, but also illustrate the effectiveness of the proposed control method.