Sliding mode controller design for a flying quadrotor with simplified action planner

Mohamed, H.A.F. and Yang, S.S. and Moghavvemi, M. (2009) Sliding mode controller design for a flying quadrotor with simplified action planner. In: ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, 18-21 August 2009, Fukuoka, Japan.

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This paper presents the design of a set of sliding mode controllers for a quadrotor vertical take-off and landing (VTOL) unmanned air vehicle. To facilitate the design process of this under-actuated system, this paper proposes the use of a simple yet effective method to plan the action of each variable controller in the system and hence enhance the performance of the quadrotor. To stabilize the overall system, each sliding mode controller is designed based on the Lyapunov stability theory. Various simulations of the model show that the proposed control method stabilizes the quadrotor and achieves good tracking performance.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Quadrotors; Sliding mode control; Vertical take-off and landing (VTOL) unmanned air vehicles; Control methods; Design process; Lyapunov stability theory; Quadrotors; Sliding mode controller; Tracking performance; Under-actuated systems; Unmanned air vehicles; Variable controllers; Vertical take-off and landings; Landing; Remotely operated vehicles; Sliding mode control; Takeoff; Unmanned aerial vehicles (UAV); Controllers
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 24 Mar 2014 08:54
Last Modified: 23 Nov 2017 02:22

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