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《Acta Armamentarii》 2009-07
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Robust Attitude Control for Micro Air Vehicle Based on Sliding Adaptive Algorithm

DUAN Hong-jun1,SHI Xiao-ping2(1.Department of Automation Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,Hebei,China;2.Control and Simulation Center,Harbin Institute of Technology,Harbin 150001, Heilongjiang,China)  
Taking aim at a class of uncertain nonlinear systems,a sliding mode adaptive control algorithm based on Lyapunov's stability theory was proposed.It is essence that: the system is divided into nominal model and lumped disturbance term which is composed of modeling error,parameter uncertainties,disturbances and unmodeled dynamics.Coefficient of the system input with uncertain character is approached in real time by adaptive control,the lumped disturbance is reduced to an acceptant bound within finite time by robust control,the tracking errors of the uncertain nonlinear system are eleminated ultimately by sliding mode control.The scheme has a good robustness for the uncertain nonlinear system and overcomes the chattering in the control input of conventional sliding mode control.The attitude control of micro air vehicle was simulated.Simulation result shows the validity of the proposed method.
【Fund】: 航天支撑技术基金资助项目(2007-HT-HGD-7)
【CateGory Index】: V249.12
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1 DUAN Hong-jun,SHI Xiao-ping(Control and Simulation Center,Harbin Institute of Technology,Harbin 150001,China);A study on flight attitude model of flapping wing micro air vehicle[J];Journal of Aerospace Power;2007-08
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