%0 Journal Article
%T Four-rotor aircraft control based on noise-attenuation differentiator<br>基于滤噪微分器的四旋翼飞行器控制
%A su jing-y
%A ZHANG Ruifeng
%A WANG Xinhua
%A CAI Kai-yuan
%A <br>宿敬亚
%A 张瑞峰
%A 王新华
%A 蔡开元
%J 控制理论与应用
%D 2009
%I 
%X Angular rate feedback can improve dynamic performance of flight control systems. However, rate gyros are generally expensive and are often prone to degradation. A sliding-mode control scheme based on noise-attenuation differentiator is proposed for the four-rotor aircraft. The scheme only needs signals from attitude sensors instead of rate gyros. The angular rate nformation used in the scheme is obtained from a noise-attenuation differentiator which is proposed byWang et al.. Theoretical analysis of the noise-attenuation performance of the differentiator is presented and an expression of the upper bound of the tracking error is derived in this paper. Simulations and experiments on a prototype of four-rotor aircraft are given to demonstrate the effectiveness and feasibility of the proposed scheme.
%K four-rotor aircraft
%K differentiator
%K sliding mode control<br>四旋翼飞行器
%K 微分器
%K 滑模变结构控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=B672EF48AF90DE7627335D97949E3A84&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=5D311CA918CA9A03&sid=AC3946AB81989513&eid=AB1DE136C335A86C&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=14