Sliding Mode Control: An Approach to Control a Quadrotor

Abstract:

This paper describes the synthesis and application of controller based on sliding mode theory to a quad rotor. A PD sliding surface is considered for vertical take-off and landing aircraft, also changes in angles are done, and some disturbances are included. Therefore, the controller can be implemented using a PD controller as the sliding surface, and adding some algebra the complete controller algorithm is presented. The controller is tested by simulations.

Año de publicación:

2015

Keywords:

• Nonlinear control
• Control theory
• sliding mode control
• UAV's

Fuente:

scopus