Electronics Optics & Control, Volume. 29, Issue 4, 16(2022)
Trajectory Tracking of a Quadrotor Based on Discrete-Time Sliding Mode Control
This paper focuses on large-angle trajectory tracking control of a quadrotor in discrete time domain.Firstlythe Newton-Euler method is used to establish a dynamic model based on 3D rotation group SO(3)which is then transformed into a discrete-time model by using the forward Euler method.Nexta control scheme based on the structure of inner and outer loops is proposed.Thendiscrete-time sliding mode control is applied to the design of inner and outer loop controllerswhose stability is proved by Lyapunov function.Finallythe performance of the designed control system is verified by Matlab simulation.The simulation results show that the designed control system has good large-angle trajectory tracking performance.
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CHENG Limei. Trajectory Tracking of a Quadrotor Based on Discrete-Time Sliding Mode Control[J]. Electronics Optics & Control, 2022, 29(4): 16
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Received: Apr. 5, 2021
Accepted: --
Published Online: Apr. 22, 2022
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