ADAPTIVE ROBUST SLIDING MODE CONTROL OF QUADROTOR IN THE PRESENCE OF WIND/ DISTURBANCE

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MOTTAHEDI ALI; Akbarzadeh Kalat Ali

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Journal: Modares Mechanical Engineering Year:2017 | Volume:16 | Issue:12 Page(s): 95-102

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Information Journal Paper

Title

ADAPTIVE ROBUST SLIDING MODE CONTROL OF QUADROTOR IN THE PRESENCE OF WIND/ DISTURBANCE

Author(s)

MOTTAHEDI ALI | Akbarzadeh Kalat Ali | Issue Writer Certificate

Keywords

SLIDING MODE CONTROLQ3

ADAPTATION LAWQ1

QUADROTORQ1

Abstract

In this paper, an adaptive robust tracking control system for an unmanned QUADROTOR is designed.Quadrotor is placed in category of rotary wing aerial vehicle, and is an under-actuated and inherently unstable system. Also, the dynamic model of system is nonlinear and uncertain, is required to design a robust control system for stabilization and tracking the desired path. This system must be able to retain the QUADROTOR balance in the presence of the disturbance, undesired aerodynamical forces and Measurement error of constant parameters. The suggested controller in this paper consists of two inner and outer control loops. Inner loop controls the Euler angles and outer loop is for controlling the QUADROTOR position and translational motion, and calculating the desired angles for trajectory tracking. In this paper by utilizing the adaptive sliding mode, a controller has been designed in which there is no need for the uncertainty range to be given and its upper bound is estimated as a scalar number. In order to prevent diverging adaptive parameters, the sigma-modification is used in adaption laws and also, to achieve suitable performance in various load, the total mass is estimated adaptively. The control design is based on the Lyapunov theory and the robust stability of system in the presence of the disturbance have been shown.

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APA: Copy

MOTTAHEDI, ALI, & Akbarzadeh Kalat, Ali. (2017). ADAPTIVE ROBUST SLIDING MODE CONTROL OF QUADROTOR IN THE PRESENCE OF WIND/ DISTURBANCE. MODARES MECHANICAL ENGINEERING, 16(12 ), 95-102. SID. https://sid.ir/paper/178171/en

Vancouver: Copy

MOTTAHEDI ALI, Akbarzadeh Kalat Ali. ADAPTIVE ROBUST SLIDING MODE CONTROL OF QUADROTOR IN THE PRESENCE OF WIND/ DISTURBANCE. MODARES MECHANICAL ENGINEERING[Internet]. 2017;16(12 ):95-102. Available from: https://sid.ir/paper/178171/en

IEEE: Copy

ALI MOTTAHEDI, and Ali Akbarzadeh Kalat, “ADAPTIVE ROBUST SLIDING MODE CONTROL OF QUADROTOR IN THE PRESENCE OF WIND/ DISTURBANCE,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 12 , pp. 95–102, 2017, [Online]. Available: https://sid.ir/paper/178171/en

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