Sliding Mode Control for systems with state constraints: Application to a Quadrotor MAV
作者单位：School of Mechatronic Engineering and Automation Shanghai University College of Energy and Power Engineering Nanjing University of Science and Technology
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
基 金：supported by National Natural Science Foundation(NNSF)of China under Grant 61304223,51775325,61603191 China Postdoctoral Science Foundation under Grant 2018M630424
关 键 词：Terminal Sliding Mode Control Positive Invariant Set Micro Aerial Vehicle
摘 要：A special kind of Sliding Mode Control（SMC） for systems having state constraints is proposed in this paper. It presents a very good performance for satisfying the state constraints by using a Positive Invariant Set（PIS）. The PIS can be regarded as a special kind of sliding mode surface, and it is equivalent to the normal SMC system when the state enters into the sliding motion phase. The algorithm is shown to be suitable for controlling the flight of a Micro Aerial Vehicle（MAV）. By using the algorithm, the customized flight control system allows the MAV from any initial state, for instance after throwing it by hand, to enter the hovering state quickly after receiving a hovering command from the ground station. The control strategy is successfully tested on the MAV platform. The results verify the effectiveness of the proposed control strategy for engineering applications.