PX4 Simulation Results of a Quadcopter with a Disturbance-Observer-Based and PSO-Optimized Sliding Mode Surface Controller

PX4 Simulation Results of a Quadcopter with a Disturbance-Observer-Based and PSO-Optimized Sliding Mode Surface Controller

This work designed a disturbance-observer-based nonlinear sliding mode surface controller (SMC) and validated the controller using a simulated PX4-conducted quadcopter. To achieve this goal, this research (1) developed a dynamic mathematical model; (2) built a PX4-based simulated UAV following the m...

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Bibliographic Details
Main Authors: Yutao Jing, Xianghe Wang, Juan Heredia-Juesas, Charles Fortner, Christopher Giacomo, Rifat Sipahi, Jose Martinez-Lorenzo
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Drones
Subjects:
sliding-mode surface control
disturbance observer
nonlinear control
particle-swarm optimization
PX4
simulation
Online Access:https://www.mdpi.com/2504-446X/6/9/261

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