TRAJECTORY AND CONTROL DESIGN OF A QUADROTOR FOR CROSSING OBSTACLES USING SLIDING MODE METHOD

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KHOSHNOOD ABDOLMAJID; KHAJEMOHAMMADI FATEMEH; ZEHTABCHI SEYED SINA

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:6 Page(s): 351-356

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Information Journal Paper

Title

TRAJECTORY AND CONTROL DESIGN OF A QUADROTOR FOR CROSSING OBSTACLES USING SLIDING MODE METHOD

Author(s)

KHOSHNOOD ABDOLMAJID | KHAJEMOHAMMADI FATEMEH | ZEHTABCHI SEYED SINA | Issue Writer Certificate

Keywords

QUADROTORSQ1

SLIDING MODE METHODQ1

CROSSING OBSTACLESQ1

TRAJECTORYQ1

Abstract

In this paper, according to flight devices categories, advantages and features of QUADROTORS and its performances are investigated. Then, the main challenges in QUADROTORS control and stability in the presence of obstacles have been considered in such a way that the system crosses the maximum number of obstacles in the best distance and time. For this purpose, the equations of motion of the system are derived and a controller for command tracking is designed without obstacles based on SLIDING MODE METHOD. The simulation results of the controller performances are given in the paper. Following this TRAJECTORY planning for crossing the system from the obstacles in alternative positions is presented and the quadrotor with the designed control system is simulated using the designed TRAJECTORY. The preference of the proposed TRAJECTORY planning is that the system can cross the number of obstacles in alternative positions in minimum time and using fewer sensors. Because of the independently shape of designing method and alternative initial velocity, the proposed method is applicable for piecewise trajectories. As a result of considering the drag force, the proposed approach is more successful in the various problems.

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APA: Copy

KHOSHNOOD, ABDOLMAJID, KHAJEMOHAMMADI, FATEMEH, & ZEHTABCHI, SEYED SINA. (2017). TRAJECTORY AND CONTROL DESIGN OF A QUADROTOR FOR CROSSING OBSTACLES USING SLIDING MODE METHOD. MODARES MECHANICAL ENGINEERING, 17(6 ), 351-356. SID. https://sid.ir/paper/179261/en

Vancouver: Copy

KHOSHNOOD ABDOLMAJID, KHAJEMOHAMMADI FATEMEH, ZEHTABCHI SEYED SINA. TRAJECTORY AND CONTROL DESIGN OF A QUADROTOR FOR CROSSING OBSTACLES USING SLIDING MODE METHOD. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(6 ):351-356. Available from: https://sid.ir/paper/179261/en

IEEE: Copy

ABDOLMAJID KHOSHNOOD, FATEMEH KHAJEMOHAMMADI, and SEYED SINA ZEHTABCHI, “TRAJECTORY AND CONTROL DESIGN OF A QUADROTOR FOR CROSSING OBSTACLES USING SLIDING MODE METHOD,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 6 , pp. 351–356, 2017, [Online]. Available: https://sid.ir/paper/179261/en

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