Author:
Eltayeb Ahmed,Rahmat Mohd Fua’ad,Basri Mohd Ariffanan Mohd,Mohammed Mansour A M
Abstract
Abstract
In this article, the adaptive sliding mode controller (ASMC) is developed for the quadrotor attitude subsystem. The proposed ASMC controller aims to reduce/decrease the unwanted chattering phenomena associated with the conventional sliding mode controller, and meanwhile achieving a robust trajectory tracking for the attitude. The stability of the proposed (ASMC) controller has been verified based on Lyapunov stability theorem. The quadrotor UAV model and the performance of the proposed controller have been simulated and tested by simulation using MATLAB/SIMULINK environment. The simulation result is proof that the chattering has been reduced significantly.
Reference17 articles.
1. Flight PID controller design for a UAV quadrotor.Sci;Salih;Res Essays [Internet].,2010
2. Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter;Lee;Int J Control Autom Syst.,2009
3. Direct Adaptive Feedback Linearization for Quadrotor Control;Mukherjee;AIAA GuidNavig Control Conf2012,2012
4. Adaptive trajectory tracking control design with command filtered compensation for a quadrotor;Zuo;JVC/Journal Vib Control.,2013
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献