State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking

Tinu Valsa Paul; Thirunavukkarasu Indiran; George Vadakkekara Itty; Suraj Suresh Kumar; Chirag Gupta

doi:10.1007/978-981-99-4634-1_20

State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking

Tinu Valsa Paul
, Thirunavukkarasu Indiran^*
, George Vadakkekara Itty
, Suraj Suresh Kumar
, Chirag Gupta

^*Corresponding author for this work

Manipal Institute of Technology, Manipal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

The quadrotor is an under-actuated nonlinear system. The decoupling between attitude and position is done in the proposed model, and a novel homogeneous sliding mode controller is designed for the model. A six-input variable controller approach is designed for the quadrotor system, which can be used for UAV maneuvring in space where gravity is not present. The analysis of the new model is done by MATLAB simulation using the robust controller. The effectiveness of the proposed controller is clearly comprehended through the obtained results of various simulations, and a comparison with other controllers is made.

Original language	English
Title of host publication	Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2022
Editors	Sanjay Sharma, Bidyadhar Subudhi, Umesh Kumar Sahu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	249-261
Number of pages	13
ISBN (Print)	9789819946334
DOIs	https://doi.org/10.1007/978-981-99-4634-1_20
Publication status	Published - 2023
Event	International Conference on Robotics, Control, Automation and Artificial Intelligence, RCAAI 2022 - Virtual, Online Duration: 24-11-2022 → 26-11-2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1066 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Robotics, Control, Automation and Artificial Intelligence, RCAAI 2022
City	Virtual, Online
Period	24-11-22 → 26-11-22

All Science Journal Classification (ASJC) codes

Industrial and Manufacturing Engineering

Access to Document

10.1007/978-981-99-4634-1_20

Cite this

Paul, T. V., Indiran, T., Itty, G. V., Suresh Kumar, S., & Gupta, C. (2023). State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking. In S. Sharma, B. Subudhi, & U. K. Sahu (Eds.), Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2022 (pp. 249-261). (Lecture Notes in Electrical Engineering; Vol. 1066 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-4634-1_20

Paul, Tinu Valsa ; Indiran, Thirunavukkarasu ; Itty, George Vadakkekara et al. / State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking. Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2022. editor / Sanjay Sharma ; Bidyadhar Subudhi ; Umesh Kumar Sahu. Springer Science and Business Media Deutschland GmbH, 2023. pp. 249-261 (Lecture Notes in Electrical Engineering).

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abstract = "The quadrotor is an under-actuated nonlinear system. The decoupling between attitude and position is done in the proposed model, and a novel homogeneous sliding mode controller is designed for the model. A six-input variable controller approach is designed for the quadrotor system, which can be used for UAV maneuvring in space where gravity is not present. The analysis of the new model is done by MATLAB simulation using the robust controller. The effectiveness of the proposed controller is clearly comprehended through the obtained results of various simulations, and a comparison with other controllers is made.",

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Paul, TV, Indiran, T, Itty, GV, Suresh Kumar, S & Gupta, C 2023, State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking. in S Sharma, B Subudhi & UK Sahu (eds), Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2022. Lecture Notes in Electrical Engineering, vol. 1066 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 249-261, International Conference on Robotics, Control, Automation and Artificial Intelligence, RCAAI 2022, Virtual, Online, 24-11-22. https://doi.org/10.1007/978-981-99-4634-1_20

State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking. / Paul, Tinu Valsa; Indiran, Thirunavukkarasu; Itty, George Vadakkekara et al.
Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2022. ed. / Sanjay Sharma; Bidyadhar Subudhi; Umesh Kumar Sahu. Springer Science and Business Media Deutschland GmbH, 2023. p. 249-261 (Lecture Notes in Electrical Engineering; Vol. 1066 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - The quadrotor is an under-actuated nonlinear system. The decoupling between attitude and position is done in the proposed model, and a novel homogeneous sliding mode controller is designed for the model. A six-input variable controller approach is designed for the quadrotor system, which can be used for UAV maneuvring in space where gravity is not present. The analysis of the new model is done by MATLAB simulation using the robust controller. The effectiveness of the proposed controller is clearly comprehended through the obtained results of various simulations, and a comparison with other controllers is made.

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Paul TV, Indiran T, Itty GV, Suresh Kumar S, Gupta C. State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking. In Sharma S, Subudhi B, Sahu UK, editors, Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 249-261. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-4634-1_20