Modified Sliding Mode Control of Autonomous Quadrotor

• Main Authors: Lachekhab, Fadhila, Zamoum, Razika BOUSHAKI, Belatreche, Ramzi, Kouzou, Abdellah, Acheli, Dalila
• Format: Conference Proceeding
• Language: English
• Subjects: Aerodynamics; Aerospace electronics; Attitude control; Mathematical model; Mathematical models; Newton and Euler equations; nonlinear control approach; Nonlinear dynamical systems; quadcopter; Rotors; Simulation; Sliding Mode Controller; state-space; UAV
• ISSN: 2474-0446
• DOI: 10.1109/SSD54932.2022.9955710

This paper addresses the creation of a precise mathematical model for a quadcopter, a type of UAV that can do vertical takeoff and landing (VTOL). The quadrotor's mathematical model is determined using the Newton and Euler equations. It is in state-space form for three-dimensional motions. This nonlinear model takes into account the aerodynamic effects and the dynamics of the rotor. It is sufficiently precise. The dynamics of the quadcopter is mainly based on two subsystems; namely the rotation subsystem and the translation subsystem. The translational subsystem depends on roll, pitch, yaw angles and translational state variables which makes it an underactuated system. The translational subsystem is underactuated since it is reliant on roll, pitch, and yaw angles, as well as translational state variables. The rotational subsystem is fully-actuated and only depends on the rotational states. Then, the elaboration and discussion of a nonlinear control approach to control the position and attitude of the quadcopter in space. The roll angle, pitch angle, yaw angle, altitude, and positions are all controlled by a Sliding Mode Controller (SMC). The simulation results of the SMC controller implementation on MATLAB/Simulink are provided.