The Quadrotor Unmanned Aerial Vehicle (UAV) is receiving more attention due to its small size, low cost, flexibility in operation and vertical take-off and landing capabilities. Quadrotors have applications in aerial photography, disaster management, agriculture, law enforcement, firefighting etc. The control of Quadrotor is challenging due to its nonlinear dynamics, unknown disturbances and unmodelled dynamics. Therefore robust control strategies like sliding mode control are required. Hence, in this paper, an adaptive sliding mode controller for controlling the attitude and position of a quadrotor UAV is proposed. First, the mathematical model of the quadrotor is developed, for which a sliding mode attitude controller is designed. A fuzzy gain scheduling system is designed for attenuating the chattering in the attitude controller. A sliding mode position control system is also designed for trajectory tracking. Finally, the performance of the developed control scheme is evaluated using MATLAB/SIMULINK. The results confirm that the proposed control scheme is capable of effectively stabilizing the attitude of the quadrotor with a significant reduction in chattering.
An Adaptive Sliding Mode Controller for Quadrotor UAV
Lect. Notes Electrical Eng.
International Conference on Intelligent Solutions for Smart Grids & Smart Cities ; 2022 June 10, 2022 - June 12, 2022
2023-05-25
15 pages
Article/Chapter (Book)
Electronic Resource
English
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