Abstract An underactuated quadrotor has four actuators and six degrees of freedom to be controlled. Nevertheless, by deliberately controlling the velocities of the four propellers, the underactuated quadrotor can track the desired position trajectory and maintain the correct attitude during flight. To improve the robustness and performance of the underactuated quadrotor system, we propose two sliding mode control to deal with the parametric variations and the external disturbances. We first establish the quadrotor model in terms of the translational and rotational dynamics along with the disturbances and the model uncertainties. By specifying the desired pitch and roll angle as the virtual control, we then design dual sliding modes: one for the translational and the other for the rotational dynamics. Our Lyapunov-based stability analysis shows that the proposed control schemes can guarantee the asymptotical stability of the error dynamics for the position and attitude control of the underactuated quadrotor. Numerical simulations also indicate that the sliding mode control can effectively follow the desired trajectory and maintain the proper attitude in the presence of parametric variations and external disturbances.


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    Title :

    Robust Flight Control of an Underactuated Quadrotor via Sliding Modes


    Contributors:


    Publication date :

    2016-10-15


    Size :

    18 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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