Sliding Mode Control: An Approach to Control a Quadrotor

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 implemen...

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Bibliographic Details
Published in2015 Asia-Pacific Conference on Computer Aided System Engineering pp. 314 - 319
Main Authors Herrera, Marco, Gomez, Alejandro P., Chamorro, William, Camacho, Oscar
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2015
Subjects
Backstepping
Control theory
Mathematical model
Nonlinear control
Observers
Rotors
Sliding mode control
Tuning
UAV's
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DOI10.1109/APCASE.2015.62

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Summary: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.
DOI:10.1109/APCASE.2015.62