TY - GEN
T1 - Design and Simulation of a Sliding Mode-Based Control Design for a Quadrotor UAV
AU - Suraj, Suresh Kumar
AU - George, Vadakkekkara Itty
AU - Thirunavukkarasu, I.
AU - Valsa Paul, Tinu
N1 - Funding Information:
This project has been funded by Indian Space Research Organisation/Department of Space, Government of India, Respond Program, under the project code: ISRO/RES/3/822/19-20, dated on August 8th, 2019.
Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2021
Y1 - 2021
N2 - This paper deals with developing a non-linear control system and implementing it on the Quadrotor UAV with the help of MATLAB simulation. Initially, a mathematical model of the system is obtained with help of the nonlinear dynamics for the quadcopter, derived with the help of Newtonian and Eulerian formulations. Thus, the model obtained includes the aerodynamic effects and rotor dynamics of the quadrotor. Further on, after the derivation of the mathematical model, control algorithms are developed for the orientation and position controls of the quadrotor in three-dimensional space. The two approaches developed are Sliding Mode Control (SMC) and Proportional Integral Differential controller. The design parameters of the SMC controller are optimized using a Genetic Algorithm (GA) to obtain better system dynamic performance. Simulations were used for evaluation and comparison of the performances of the two developed control techniques between their dynamic performances and stability in both linear and nonlinear operative regions.
AB - This paper deals with developing a non-linear control system and implementing it on the Quadrotor UAV with the help of MATLAB simulation. Initially, a mathematical model of the system is obtained with help of the nonlinear dynamics for the quadcopter, derived with the help of Newtonian and Eulerian formulations. Thus, the model obtained includes the aerodynamic effects and rotor dynamics of the quadrotor. Further on, after the derivation of the mathematical model, control algorithms are developed for the orientation and position controls of the quadrotor in three-dimensional space. The two approaches developed are Sliding Mode Control (SMC) and Proportional Integral Differential controller. The design parameters of the SMC controller are optimized using a Genetic Algorithm (GA) to obtain better system dynamic performance. Simulations were used for evaluation and comparison of the performances of the two developed control techniques between their dynamic performances and stability in both linear and nonlinear operative regions.
UR - http://www.scopus.com/inward/record.url?scp=85108903902&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85108903902&partnerID=8YFLogxK
U2 - 10.1007/978-981-16-0336-5_41
DO - 10.1007/978-981-16-0336-5_41
M3 - Conference contribution
AN - SCOPUS:85108903902
SN - 9789811603358
T3 - Lecture Notes in Electrical Engineering
SP - 495
EP - 507
BT - Smart Sensors Measurements and Instrumentation - Select Proceedings of CISCON 2020
A2 - K V, Santhosh
A2 - Rao, K. Guruprasad
PB - Springer Science and Business Media Deutschland GmbH
ER -