摘要：AbstractThis paper proposes a cascade control strategy for multi-rotor unmanned aerial vehicle, where the inner-loop system is regulated by a sliding mode controller with disturbance observer and the outer-loop controller is a PID controller. Operational constraints are incorporated in the implementation for safety protection of the electronics. Experimental results are obtained to demonstrate the efficacy of the proposed design in comparison to a traditional cascade PID control system.
关键词：Keywordsunmanned aerial vehicledisturbance observercascade controloperational constraintssliding mode control
