Abstract
The quadrotor unmanned aerial vehicles (UAV) systems have been getting recently more focus from researchers and engineers due to its outstanding impact and broad applications in civilian and military sectors. In this paper, the quadrotor dynamic model has been introduced. Firstly, the sliding mode controller has been designed to control the attitude of the quadrotor as the inner loop controller. This research aims to reduce the chattering associated with the conventional sliding mode control (SMC), by applying the adaptive fuzzy gain scheduling SMC technique (AFGS-SMC). Secondly, PD controller has been implemented as an outer loop controller to control the quadrotor position. Finally, the performance of the proposed AFGS-SMC controller has been evaluated by simulation Matlab/Simulink, and compared with the conventional SMC, in terms of chattering attenuation and trajectory tracking.
| Original language | English |
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| Title of host publication | 2019 8th International Conference on Modeling Simulation and Applied Optimization, ICMSAO 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781538676844 |
| DOIs | |
| State | Published - Apr 2019 |
| Externally published | Yes |
Publication series
| Name | 2019 8th International Conference on Modeling Simulation and Applied Optimization, ICMSAO 2019 |
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Bibliographical note
Publisher Copyright:© 2019 IEEE.
Keywords
- Chattering
- Fuzzy logic
- Gain scheduling
- PD controller
- Quadrotor UAV
- SMC control
ASJC Scopus subject areas
- Signal Processing
- Industrial and Manufacturing Engineering
- Safety, Risk, Reliability and Quality
- Control and Optimization
- Modeling and Simulation
- Health Informatics