Extended-State Observer-Based Integral Sliding-Mode Control for a Quadrotor

摘要

This study presents the extended-state observer-based integral sliding-mode control (ESO-ISMC) for a quadrotor. A novel model of a quadrotor that employs control instruction of attitude as actual input is constructed, which is close to the actual model of a quadrotor and easy to design the controller of a quadrotor. The proposed ESO-ISMC estimates not only the multiple disturbances as the lumped disturbances form, but also the state of a quadrotor. The adaptive integral sliding-mode control (ISMC) employs the disturbance estimates from ESO to actively reject the disturbance, which can effectively reduce the chattering and enhance the anti-disturbance ability. Simulation results are given to validate the effectiveness of the proposed method.