Four-rotor aircraft control based on noise-attenuation differentiator
基于滤噪微分器的四旋翼飞行器控制

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.