Sliding Mode Control Algorithm For Quad-rotor Aircraft

Four rotor aircraft can realize curved flight, and it can change its vehicletrajectory by setting several parameters. However, the function of controlremains to be researched so far. So in this passage, we introduced the relatedcontrol theory and function in the application of controller. Throughout thesimulation, we want to make more arguments of the researching of the issue andthe conclusion.The typical characteristics of sliding mode control are that it can realize thecontinuous control. The sliding mode control is designable; it’s not related to thesystem parameters and disturbance, which can make the system to get goodrobust performance. In the actual environment, any system has a different degreeof uncertainty. These uncertainties may appear in the system or outside of thesystem. The research object of the adaptive control system is this kind ofadaptive system with uncertainty, which need to get the information of the modelin the process of the running of the system, and it makes the system more perfect.With the process of lots of subjects, combining the sliding mode control andadaptive control can solve the problem of control with uncertain parameters andtime varying parameter system better.This article mainly researched the nonlinear analysis of four rotor aircraftmodel, and we set up a nonlinear mathematical model of aircraft. Aiming at theaircraft can fly on the target trajectory and hovering questions, we designed thealgorithm based on PID, and through which we introduced the sliding modevariable structure control theory. After the simplify of the system, we designedthe flight controller based on sliding mode algorithm according the existingnonlinear flight controller problem. This can realize the fly–out effect and thehover effect of the aircraft of the flight under the designed controller. After which we designed the flight controller based on adaptive sliding mode algorithm foruncertain factors and the interference problems. We analyzed the stable flighteffect, hover effect and capacity of resisting disturbance of the designed systemcontroller under the conditions that when the quality parameter uncertainty anddisturbance by signal mutation. We effectively carried out simulationexperiments for all the above three controller to verify the feasibility of thesethree controllers.