Study of Adaptive Sliding Mode Control Method Based on Disturbance Observer for Quadrotor Unmanned Aerial Vehicle

摘要

Quadrotor Unmanned Aerial Vehicle is a kind of UAV, which is disturbed easily and has nonlinear and strong coupling characteristics. In the paper, the model of Quadrotor Unmanned Aerial Vehicle is presented, then the adaptive sliding mode control laws is designed based on the model. And the disturbance observer is lead in the control laws. The control laws can overcome the uncertainty and unmodelled dynamics in the model. In the end, the correctness of control laws is proved by the method of Mathematics and the simulations prove that the control laws ensure that Quadrotor UAV can flight steady.