Sliding Mode Control of quadrotor

Author

Runcharoon, Kriuaya ; Srichatrapimuk, Varawan

Author_Institution

Fac. of Electr. Eng., Kasetsart Univ., Bangkok, Thailand

fYear

2013

fDate

9-11 May 2013

Firstpage

552

Lastpage

557

Abstract

This paper presents a design method for attitude control of an autonomous quadrotor based sliding Mode Control. We are interested in the dynamic modeling of quadrotor because of it complexity. The dynamic model is used to design a stable and accurate controller to perform the best tracking and attitude results. To stabilize the overall systems, each sliding mode controller is designed based on the Lyapunov stability theory. The advantage of sliding mode control is its not being sensitive to model errors, parametric uncertainties and other disturbances. Lastly, we show that the control law has a good robust and good stability though simulation.

Keywords

Lyapunov methods; aircraft; attitude control; autonomous aerial vehicles; control system synthesis; modelling; stability; uncertain systems; variable structure systems; Lyapunov stability theory; attitude control design method; autonomous quadrotor based sliding mode control; control law; parametric uncertainties; quadrotor dynamic modeling; sliding mode control; stable controller; Nickel; Robustness; Tracking; Altitude; Nonlinear; Qaudrotor; Sliding mode control; attitude; control;

fLanguage

English

Publisher

ieee

Conference_Titel

Technological Advances in Electrical, Electronics and Computer Engineering (TAEECE), 2013 International Conference on

Conference_Location

Konya

Print_ISBN

978-1-4673-5612-1

Type

conf

DOI

10.1109/TAEECE.2013.6557334

Filename

6557334