Improved Quadrotor Altitude Control Design Using Second-Order Sliding Mode
Publication: Journal of Aerospace Engineering
Volume 30, Issue 6
Abstract
In this paper, a second-order sliding mode control (SMC) is proposed to improve the performance of quadrotor. The sliding surface of the proposed controller is based on the proportional integral derivative (PID) dynamics. The control law is derived on the basis of the Lyapunov stability theory, which guarantees that all the system state trajectories reach and stay on the sliding surfaces. The proposed control method is compared with conventional sliding mode control, backstepping-based sliding mode control, and existing second-order sliding mode control from the literature. It is demonstrated that the proposed PID-based second-order sliding mode control improves the performance of quadrotor with better altitude tracking specification and faster convergence while maintaining stability even after the occurrence of external disturbances and parameter uncertainties.
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Information
Published In
Journal of Aerospace Engineering
Volume 30 • Issue 6 • November 2017
Copyright
©2017 American Society of Civil Engineers.
History
Received: Jun 3, 2015
Accepted: Apr 21, 2017
Published online: Jul 26, 2017
Published in print: Nov 1, 2017
Discussion open until: Dec 26, 2017
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