Design Of Attitude Control Based On Sliding Mode Control Theory With Quadrotor

The quadrotor is a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), which has broad applications in both military and civilian region. These years, more and more research communities have shown a great interest in the quadrotor. it is a typical multiple-input and multiple-output (MIMO) system. It has strong channel coupling and high nonlinearity. How to avoid the chatter is an important research problem in the sliding mode control and needs to be studied.Sliding mode control is a particular approach of robust controller design and it is also a particular type of variable structure control. In the sliding mode control, the system behavior on sliding mode becomes totally insensitive to a particular class of uncertainty which satisfies so called matched condition. Its invariance property is stronger than robustness and is called as ideal robustness also, which clearly makes the methodology an appropriate candidate for robust control. Based on the above analysis, this dissertation studies certain problems on terminal sliding mode control theory and application. The main contributions are as follows.Firstly, the research status, technologies and important meanings are introduced. Secondly, the system's dynamic model is established after ignoring the gyroscopic effects and the internal structure frictions. Thirdly, according to the model's characteristic, Variable Strueture Terminal Sliding Mode Control(VSTSMC) theory is applied in the system's dynamic controller design for the quadrotor. The controller design and the simulation study show the feasibility and effectively of the proposed method. Finally, based on LMI technique the design method of linear sliding surface for uncertain systems with mismatched uncertainties is developed and the design approaches of sliding mode controller for systems with matched uncertainties and mismatched uncertainties are proposed respectively.. The control strategy proposed can guarantee that the sliding mode control system possesses the robustness not only to the matched uncertainties but also to the mismatched uncertainties. The control strategy proposed can guarantee that the sliding mode control system possesses the robustness to the mismatched uncertainties.