Adaptive Sliding Mode Control Design for the Attitude of the Quadrotor Unmanned Aerial Vehicle (UAV)

Ahmed Eltayeb; Mohd Fua ad Rahmat; Mohd Ariffanan Mohd Basri; A. M. Mohammed Mansour

doi:10.1088/1757-899X/884/1/012081

Adaptive Sliding Mode Control Design for the Attitude of the Quadrotor Unmanned Aerial Vehicle (UAV)

Ahmed Eltayeb^*, Mohd Fua ad Rahmat, Mohd Ariffanan Mohd Basri, A. M. Mohammed Mansour

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

4 Scopus citations

Abstract

In this article, the adaptive sliding mode controller (ASMC) is developed for the quadrotor attitude subsystem. The proposed ASMC controller aims to reduce/decrease the unwanted chattering phenomena associated with the conventional sliding mode controller, and meanwhile achieving a robust trajectory tracking for the attitude. The stability of the proposed (ASMC) controller has been verified based on Lyapunov stability theorem. The quadrotor UAV model and the performance of the proposed controller have been simulated and tested by simulation using MATLAB/SIMULINK environment. The simulation result is proof that the chattering has been reduced significantly.

Original language	English
Article number	012081
Journal	IOP Conference Series: Materials Science and Engineering
Volume	884
Issue number	1
DOIs	https://doi.org/10.1088/1757-899X/884/1/012081
State	Published - 20 Jul 2020
Externally published	Yes

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Publisher Copyright:
© Published under licence by IOP Publishing Ltd.

ASJC Scopus subject areas

General Materials Science
General Engineering

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10.1088/1757-899X/884/1/012081

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title = "Adaptive Sliding Mode Control Design for the Attitude of the Quadrotor Unmanned Aerial Vehicle (UAV)",

abstract = "In this article, the adaptive sliding mode controller (ASMC) is developed for the quadrotor attitude subsystem. The proposed ASMC controller aims to reduce/decrease the unwanted chattering phenomena associated with the conventional sliding mode controller, and meanwhile achieving a robust trajectory tracking for the attitude. The stability of the proposed (ASMC) controller has been verified based on Lyapunov stability theorem. The quadrotor UAV model and the performance of the proposed controller have been simulated and tested by simulation using MATLAB/SIMULINK environment. The simulation result is proof that the chattering has been reduced significantly.",

author = "Ahmed Eltayeb and Rahmat, \{Mohd Fua ad\} and Basri, \{Mohd Ariffanan Mohd\} and \{Mohammed Mansour\}, \{A. M.\}",

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AU - Eltayeb, Ahmed

AU - Rahmat, Mohd Fua ad

AU - Basri, Mohd Ariffanan Mohd

AU - Mohammed Mansour, A. M.

PY - 2020/7/20

Y1 - 2020/7/20

N2 - In this article, the adaptive sliding mode controller (ASMC) is developed for the quadrotor attitude subsystem. The proposed ASMC controller aims to reduce/decrease the unwanted chattering phenomena associated with the conventional sliding mode controller, and meanwhile achieving a robust trajectory tracking for the attitude. The stability of the proposed (ASMC) controller has been verified based on Lyapunov stability theorem. The quadrotor UAV model and the performance of the proposed controller have been simulated and tested by simulation using MATLAB/SIMULINK environment. The simulation result is proof that the chattering has been reduced significantly.

AB - In this article, the adaptive sliding mode controller (ASMC) is developed for the quadrotor attitude subsystem. The proposed ASMC controller aims to reduce/decrease the unwanted chattering phenomena associated with the conventional sliding mode controller, and meanwhile achieving a robust trajectory tracking for the attitude. The stability of the proposed (ASMC) controller has been verified based on Lyapunov stability theorem. The quadrotor UAV model and the performance of the proposed controller have been simulated and tested by simulation using MATLAB/SIMULINK environment. The simulation result is proof that the chattering has been reduced significantly.

UR - https://www.scopus.com/pages/publications/85092063780

U2 - 10.1088/1757-899X/884/1/012081

DO - 10.1088/1757-899X/884/1/012081

M3 - Conference article

AN - SCOPUS:85092063780

SN - 1757-8981

VL - 884

JO - IOP Conference Series: Materials Science and Engineering

JF - IOP Conference Series: Materials Science and Engineering

IS - 1

M1 - 012081

ER -

Adaptive Sliding Mode Control Design for the Attitude of the Quadrotor Unmanned Aerial Vehicle (UAV)

Abstract

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ASJC Scopus subject areas

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