Position and attitude tracking control for a quadrotor UAV via double-loop controller

Hairong Yin; Qingling Wang; Changyin Sun

doi:10.1109/CCDC.2017.7979449

Position and attitude tracking control for a quadrotor UAV via double-loop controller

Hairong Yin
, Qingling Wang
, Changyin Sun

Southeast University, Nanjing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle (UAV), the proportional-derivative (PD) and integral sliding mode techniques are adapted to design a double-loop controller in this paper. Firstly, the system model of quadrotor is established according to the Lagrange formalism. Then, a PD control method is put forward in the outer-loop to achieve the position tracking. Meanwhile, an integral sliding mode control method is adapted in the inner-loop to ensure the quadrotor track the desired attitude angles in the presence of external disturbances. Accordingly, a double-loop controller is generated. Finally, simulation results are presented to verify the effectiveness and robustness of the proposed control laws.

Original language	English
Title of host publication	Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5358-5363
Number of pages	6
ISBN (Electronic)	9781509046560
DOIs	https://doi.org/10.1109/CCDC.2017.7979449
State	Published - 12 Jul 2017
Externally published	Yes
Event	29th Chinese Control and Decision Conference, CCDC 2017 - Chongqing, China Duration: 28 May 2017 → 30 May 2017

Publication series

Name	Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

Conference

Conference	29th Chinese Control and Decision Conference, CCDC 2017
Country/Territory	China
City	Chongqing
Period	28/05/17 → 30/05/17

Keywords

Double-loop controller
Integral sliding mode control
PD control
Quadrotor
Tracking

Access to Document

10.1109/CCDC.2017.7979449

Cite this

Yin, H., Wang, Q., & Sun, C. (2017). Position and attitude tracking control for a quadrotor UAV via double-loop controller. In Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (pp. 5358-5363). Article 7979449 (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2017.7979449

@inproceedings{571fd49e03504af6b694ebd780e5973d,

title = "Position and attitude tracking control for a quadrotor UAV via double-loop controller",

abstract = "To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle (UAV), the proportional-derivative (PD) and integral sliding mode techniques are adapted to design a double-loop controller in this paper. Firstly, the system model of quadrotor is established according to the Lagrange formalism. Then, a PD control method is put forward in the outer-loop to achieve the position tracking. Meanwhile, an integral sliding mode control method is adapted in the inner-loop to ensure the quadrotor track the desired attitude angles in the presence of external disturbances. Accordingly, a double-loop controller is generated. Finally, simulation results are presented to verify the effectiveness and robustness of the proposed control laws.",

keywords = "Double-loop controller, Integral sliding mode control, PD control, Quadrotor, Tracking",

author = "Hairong Yin and Qingling Wang and Changyin Sun",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 29th Chinese Control and Decision Conference, CCDC 2017 ; Conference date: 28-05-2017 Through 30-05-2017",

year = "2017",

month = jul,

day = "12",

doi = "10.1109/CCDC.2017.7979449",

language = "英语",

series = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "5358--5363",

booktitle = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",

}

Yin, H, Wang, Q & Sun, C 2017, Position and attitude tracking control for a quadrotor UAV via double-loop controller. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017., 7979449, Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017, Institute of Electrical and Electronics Engineers Inc., pp. 5358-5363, 29th Chinese Control and Decision Conference, CCDC 2017, Chongqing, China, 28/05/17. https://doi.org/10.1109/CCDC.2017.7979449

Position and attitude tracking control for a quadrotor UAV via double-loop controller. / Yin, Hairong; Wang, Qingling; Sun, Changyin.
Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 5358-5363 7979449 (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Position and attitude tracking control for a quadrotor UAV via double-loop controller

AU - Yin, Hairong

AU - Wang, Qingling

AU - Sun, Changyin

PY - 2017/7/12

Y1 - 2017/7/12

N2 - To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle (UAV), the proportional-derivative (PD) and integral sliding mode techniques are adapted to design a double-loop controller in this paper. Firstly, the system model of quadrotor is established according to the Lagrange formalism. Then, a PD control method is put forward in the outer-loop to achieve the position tracking. Meanwhile, an integral sliding mode control method is adapted in the inner-loop to ensure the quadrotor track the desired attitude angles in the presence of external disturbances. Accordingly, a double-loop controller is generated. Finally, simulation results are presented to verify the effectiveness and robustness of the proposed control laws.

AB - To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle (UAV), the proportional-derivative (PD) and integral sliding mode techniques are adapted to design a double-loop controller in this paper. Firstly, the system model of quadrotor is established according to the Lagrange formalism. Then, a PD control method is put forward in the outer-loop to achieve the position tracking. Meanwhile, an integral sliding mode control method is adapted in the inner-loop to ensure the quadrotor track the desired attitude angles in the presence of external disturbances. Accordingly, a double-loop controller is generated. Finally, simulation results are presented to verify the effectiveness and robustness of the proposed control laws.

KW - Double-loop controller

KW - Integral sliding mode control

KW - PD control

KW - Quadrotor

KW - Tracking

UR - https://www.scopus.com/pages/publications/85028049842

U2 - 10.1109/CCDC.2017.7979449

DO - 10.1109/CCDC.2017.7979449

M3 - 会议稿件

AN - SCOPUS:85028049842

T3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

SP - 5358

EP - 5363

BT - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 29th Chinese Control and Decision Conference, CCDC 2017

Y2 - 28 May 2017 through 30 May 2017

ER -

Yin H, Wang Q, Sun C. Position and attitude tracking control for a quadrotor UAV via double-loop controller. In Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 5358-5363. 7979449. (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017). doi: 10.1109/CCDC.2017.7979449

Position and attitude tracking control for a quadrotor UAV via double-loop controller

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this