Sliding ModeBased Position andAttitude （滑动ModeBased位置时候）.pdfVIP

Proceedings of Australasian Conference on Robotics and Automation, 2-4 Dec 2013, University of New South Wales, Sydney Australia Sliding Mode Based Position and Attitude Controller for a Vectored Thrust Aerial Vehicle Hiranya Jayakody and Jay Katupitiya School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, Australia {hiranya.jayakody@student.unsw,j.katupitiya@unsw,} .edu.au Abstract IMU This paper presents robust control of a Vec- Onboard tored Thrust Aerial Vehicle (VTAV) based on Computer Sliding Mode Control (SMC) methodology. ESC The VTAV is designed to be able to trans- late with zero roll and pitch angles so that a set of sensor suite can effectively be used Top View for terrain mapping. Furthermore, The three thrust inputs and two thrust vectoring inputs provide more maneuverability compared to Li−Po the popular quadrotor platform. First the Battery non-linear dynamic model of the VTAV is Laser Range sensor presented. Then, contrary to existing work, the nonlinear dynamic model of the VTAV is used without any linearization process to