Sliding mode controller design for a flying quadrotor with simplified action planner
Document Type
Conference Item
Publication Date
8-1-2009
Abstract
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.
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
Divisions
fac_eng
Event Title
ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Event Location
Fukuoka, Japan
Event Dates
18-21 August 2009
Event Type
conference