@inproceedings{7dbfaa5c183442f7a9ec594a5a246659,
title = "On the autopilot design for a quadrotor during landing phase",
abstract = "The attitude controller and the navigation system of the quadrotor during landing phase are designed to realize the precision soft landing under external disturbance. Firstly, the mathematical model of the quadrotor with external disturbance is established based on the small angle assumption. Secondly, the quadrotor attitude controller based on L1-SMC theory is designed to resist the external disturbance. Finally, the navigation system of the quadrotor during landing phase is designed based on the improved Tao theory, and the simulation are carried out for the quadrotor attitude controller and landing phase navigation strategy. Simulation results show that the designed attitude controller can resist the external disturbance and has strong robustness and good tracking performance. The quadrotor can achieve a precise soft landing.",
keywords = "L1 adaptive control, Quadrotors, Sliding mode control, Time to contact",
author = "Zhongjiao Shi and Liangyu Zhao",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7555079",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "10875--10879",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "United States",
}