A Combined MRSMC/MBC Altitude Controller for a Quad-rotor UAV

摘要

This paper mainly discusses the altitude control of a quad-rotor UAV. At first, a brief introduction is given to the experimental setup. The altitude information is estimated by the barometer and accelerometer to improve the accuracy. Then a novel altitude controller which combined the Model Reference Sliding Mode Controller (MRSMC) and Memory Based Controller (MBC) is proposed. The experimental results show the good performance of the improved controller.