Nonlinear Dynamic Modeling of a Quadrotor and Its Control Using Sliding Mode Controller
Publication: Journal of Aerospace Engineering
Volume 36, Issue 6
Abstract
In this paper, an attempt has been made to implement the classical second order SMC for a nonlinear model of the Quadrotor with varied trajectories in a closed loop in simulation for the available model along with the model identified for Hexsoon Edu 450 Quadrotor. The controller is developed using an equivalent control technique that was realized using MATLAB. Because the quadrotor system is complex, the dynamic modeling has to be done by considering six degrees of freedom prior to the controller design. Primarily the attitude controllers of the quadrotor should be settled at the desired values. Then, the position controllers must be stabilized using effective tuning of the parameters of the controller. This paper presents a three-dimensional trajectory tracking of the quadrotor using a sliding mode controller (SMC) which is stable and accurate as per the comparison because the maneuvering of the quadrotor is a quick process. The results of the designed (SMC) are compared with a nonlinear PID controller in the literature. The result proved the robustness of the SMC against the uncertainties of the system compared with NPID.
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Data Availability Statement
Some or all the data, the models, or the codes that support the findings of this study are available from the corresponding author upon reasonable request.
Acknowledgments
The authors are grateful to the Department of Instrumentation and Control Engineering, Manipal Institute of Technology, Manipal Academy of Higher Education (Institution of Eminence), Manipal-576104, Karnataka, India, for providing simulating laboratory environment and access to various journals. Also, we acknowledge Chirag Gupta, North Eastern Space Application Center (NESAC) Indian Space Research Organization/Department of Space Respond Program, Government of India, has funded this project under the project code: ISRO/RES/3/822/19–20, dated August 8, 2019.
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Published In
Journal of Aerospace Engineering
Volume 36 • Issue 6 • November 2023
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Aug 23, 2020
Accepted: Jun 20, 2023
Published online: Aug 22, 2023
Published in print: Nov 1, 2023
Discussion open until: Jan 22, 2024
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