Systems Engineering and Electronics ›› 2018, Vol. 40 ›› Issue (1): 119-126.doi: 10.3969/j.issn.1001-506X.2018.01.18

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Robust dynamic inversion control for quad-rotors unmanned vehicle based on sliding mode disturbance observation and compensation

CHEN Cheng1, WEI Changzhu1, JU Xiaozhe1, LIU Pengyun2   

  1. 1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China; 2. Beijing institute of Control and Electronic Technology, Beijing 100038, China
  • Online:2018-01-08 Published:2018-01-08

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Abstract:

The model of quad-rotors is of under-actuation, strong coupling and large uncertainty, thus a controller of strong robustness and anti-jamming capability should be proposed to enhance the flight performance of quad-rotors. Firstly a dynamic model of quad-rotors containing structural uncertainty is deduced, which is separated into double loops based on time-scale separation after detailed analysis on its dynamical characteristic. Then linearization with assumption of small Euler angles helps derive a state space dynamic model. Considering stabling the quad-rotors under any possible structural uncertainty, a robust control law is given and its global convergence is proved through the Lyapunov theory. For the improvement of flight performance against external disturbance, we design a sliding-mode disturbance observer on the basis of the super-twisting algorithm so as to observe the perturbation and make compensation. Simulations under the condition of large structural uncertainty and external disturbance validate better control performance of the proposed controller.

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