Experimentally Validated Sliding Mode Control of Multi-rotor UAV with Control Signal Constraints. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Zhu, Yuankang; Wang, Liuping; Mishra, Jyoti
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 8860
• Page End: 8865
• Publication Date: 2020
• Subjects: unmanned aerial vehicle -- disturbance observer -- cascade control -- operational constraints -- sliding mode control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1403
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper proposes a cascade control strategy for multi-rotor unmanned aerial vehicle, where the inner-loop system is regulated by a sliding mode controller with disturbance observer and the outer-loop controller is a PID controller. Operational constraints are incorporated in the implementation for safety protection of the electronics. Experimental results are obtained to demonstrate the efficacy of the proposed design in comparison to a traditional cascade PID control system.