Nonlinear Dynamic Modeling of a Quadrotor and Its Control Using Sliding Mode Controller

AbstractIn 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 develope...

Full description

Saved in:
Bibliographic Details
Published in:Journal of aerospace engineering 2023-11, Vol.36 (6)
Main Authors: Paul, Tinu Valsa, Vadakkekara Itty, George, Indiran, Thirunavukkarasu
Format: Article
Language:English
Subjects:
Attitude control
Closed loops
Control systems design
Controllers
Dynamic models
Dynamical systems
Modelling
Nonlinear control
Nonlinear dynamics
Proportional integral derivative
Sliding mode control
Technical Papers
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:AbstractIn 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.
ISSN:0893-1321
1943-5525
DOI:10.1061/JAEEEZ.ASENG-3722