Integral Sliding Mode Flight Controller Design for a Quadrotor and the Application in a Heterogeneous Multi-Agent System
Top Cited Papers
- 19 June 2017
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industrial Electronics
- Vol. 64 (12), 9389-9398
- https://doi.org/10.1109/tie.2017.2711575
Abstract
This paper investigates a novel integral sliding mode control (ISMC) strategy for the waypoint tracking control of a quadrotor in the presence of model uncertainties and external disturbances. The proposed controller has the inner-outer loop structure: The outer loop is to generate the reference signals of the roll and pitch angles, while the inner loop is designed by using the ISMC technique for the quadrotor to track the desired x, y positions and roll and pitch angles. The Lyapunov stability analysis is provided to show that the negative effects of the bounded model uncertainties and external disturbances can be significantly decreased. The designed controller is then applied to a heterogeneous multi-agent system (MAS) consisting of quadrotors and two-wheeled mobile robots (2WMRs) to solve the consensus problem. We present the control algorithms for the 2WMRs and quadrotors. Consensus of the heterogeneous MAS can be reached if the switching graphs always have a spanning tree. Finally, the experimental tests are conducted to verify the effectiveness of the proposed control methods.Keywords
Funding Information
- Natural Sciences and Engineering Research Council of Canada
- National Natural Science Foundation of China (61473116)
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