Abstract
This paper considers a quadrotor UAV’s automatic landing on unmanned vessels problem, and the quadrotor UAV’s model has uncertain parameters. We design a robust flight controller with the variable structure sliding-mode control with precise sliding manifold coefficients to ensure strong position and attitude control. The controller can move the UAV to track the desired position and yaw angle and keep pitch and yaw angles on stable. The $ Lyapunov $ function is used to prove the control system is effective, and the sliding-mode manifold coefficients are obtained by Hurwitz stability analysis. The landing simulation results show the effectiveness of the controller.
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Fei, Q., Zhang, J., Wang, Z., Huang, X. (2020). Sliding Mode Control with Uncertain Model for a Quadrotor UAV’s Automatic Visual Landing Problem. In: Deng, Z. (eds) Proceedings of 2019 Chinese Intelligent Automation Conference. CIAC 2019. Lecture Notes in Electrical Engineering, vol 586. Springer, Singapore. https://doi.org/10.1007/978-981-32-9050-1_26
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DOI: https://doi.org/10.1007/978-981-32-9050-1_26
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Online ISBN: 978-981-32-9050-1
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