TY - JOUR
T1 - Nonlinear Dynamic Modeling of a Quadrotor and Its Control Using Sliding Mode Controller
AU - Paul, Tinu Valsa
AU - Vadakkekara Itty, George
AU - Indiran, Thirunavukkarasu
N1 - Funding Information:
The authors are grateful to the Department of Instrumentation and Control Engineering, Manipal Institute of Technology, Manipal Academy of Higher Education (Institution of Eminence), Manipal-576104, Karnataka, India, for providing simulating laboratory environment and access to various journals. Also, we acknowledge Chirag Gupta, North Eastern Space Application Center (NESAC) Indian Space Research Organization/Department of Space Respond Program, Government of India, has funded this project under the project code: ISRO/RES/3/822/19–20, dated August 8, 2019.
Publisher Copyright:
© 2023 American Society of Civil Engineers.
PY - 2023/11/1
Y1 - 2023/11/1
N2 - In this paper, an attempt has been made to implement the classical second order SMC for a nonlinear model of the Quadrotor with varied trajectories in a closed loop in simulation for the available model along with the model identified for Hexsoon Edu 450 Quadrotor. The controller is developed using an equivalent control technique that was realized using MATLAB. Because the quadrotor system is complex, the dynamic modeling has to be done by considering six degrees of freedom prior to the controller design. Primarily the attitude controllers of the quadrotor should be settled at the desired values. Then, the position controllers must be stabilized using effective tuning of the parameters of the controller. This paper presents a three-dimensional trajectory tracking of the quadrotor using a sliding mode controller (SMC) which is stable and accurate as per the comparison because the maneuvering of the quadrotor is a quick process. The results of the designed (SMC) are compared with a nonlinear PID controller in the literature. The result proved the robustness of the SMC against the uncertainties of the system compared with NPID.
AB - In this paper, an attempt has been made to implement the classical second order SMC for a nonlinear model of the Quadrotor with varied trajectories in a closed loop in simulation for the available model along with the model identified for Hexsoon Edu 450 Quadrotor. The controller is developed using an equivalent control technique that was realized using MATLAB. Because the quadrotor system is complex, the dynamic modeling has to be done by considering six degrees of freedom prior to the controller design. Primarily the attitude controllers of the quadrotor should be settled at the desired values. Then, the position controllers must be stabilized using effective tuning of the parameters of the controller. This paper presents a three-dimensional trajectory tracking of the quadrotor using a sliding mode controller (SMC) which is stable and accurate as per the comparison because the maneuvering of the quadrotor is a quick process. The results of the designed (SMC) are compared with a nonlinear PID controller in the literature. The result proved the robustness of the SMC against the uncertainties of the system compared with NPID.
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U2 - 10.1061/JAEEEZ.ASENG-3722
DO - 10.1061/JAEEEZ.ASENG-3722
M3 - Article
AN - SCOPUS:85169816010
SN - 0893-1321
VL - 36
JO - Journal of Aerospace Engineering
JF - Journal of Aerospace Engineering
IS - 6
M1 - 04023077
ER -