Tracking Design with Single-Input CMAC based Sliding Mode Controller

摘要

Quadrotor is a kind of multi-variable, strong coupling and nonlinear characteristics of complex systems. In order to improve the stability of four-rotor aircraft flight performance and control, a sliding mode controller is designed primarily for using Newton-Euler equations to build and simulate the mathematical model of quadrotor for location tracking in this paper. Since approximation error and uncertainties are existed in the considered system, the gain parameter values must be preset and not be easy to find. Therefore, the cerebellar model is chosen to overcome the previously encountered problems. Control law is derived through Lyapunov stability analysis to ensure the stability of the system. In view of the simulation results, it is obvious that the proposed controller has a good track performance.