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ĐIỀU KHIỂN ỔN ĐỊNH HÓA QUADROTOR BẰNG PHƢƠNG PHÁP ĐIỀU KHIỂN TRƯỢT

Abstract – A quadrotor is an unmanned air vehicle which has four rotors located at the ends of a cross frame. This paper presents a design method for attitude control of anautonomous quadrotor based Sliding Mode Control. We areinterested in the dynamic modeling of quadrotor because ofit complexity. The dynamic model is used to design a stableand accurate controller to perform the best tracking andattitude results. To stabilize the overall systems, each SlidingMode Controller is designed based on the Lyapunovstability theory. The advantage of Sliding Mode Control is its not being sensitive to model errors, parametricuncertainties and other disturbances. Lastly, we show that thecontrol law has a good robust and good stability.

Từ khóa: – UAVs; Quadrotor; Sliding Mode Controller.

7 p ovanketv4 16/06/2017 504 8

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