Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 2

quadrotor UAV Related Abstracts

2 Smooth Second Order Nonsingular Terminal Sliding Mode Control for a 6 DOF Quadrotor UAV

Authors: R. Ghasemi, V. Tabrizi, A. Vali, V. Behnamgol

Abstract:

In this article, a nonlinear model of an under actuated six degrees of freedom (6 DOF) quadrotor UAV is derived on the basis of the Newton-Euler formula. The derivation comprises determining equations of the motion of the quadrotor in three dimensions and approximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics. The robust nonlinear control strategy includes a smooth second order non-singular terminal sliding mode control which is applied to stabilizing this model. The control method is on the basis of super twisting algorithm for removing the chattering and producing smooth control signal. Also, nonsingular terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Simulation results show that the proposed algorithm is robust against uncertainty or disturbance and guarantees a fast and precise control signal.

Keywords: Signal Processing, Electronics, Control, quadrotor UAV, nonsingular terminal sliding mode, second order sliding mode t

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1 Fast Terminal Sliding Mode Controller For Quadrotor UAV

Authors: Reza Ghasemi, Vahid Tabrizi, Ahmadreza Vali

Abstract:

This paper presents robust nonlinear control law for a quadrotor UAV using fast terminal sliding mode control. Fast terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Then, in reaching phase for removing chattering and producing smooth control signal, continuous approximation idea is used. Simulation results show that the proposed algorithm is robust against parameter uncertainty and has better performance than conventional sliding mode for controlling a quadrotor UAV.

Keywords: quadrotor UAV, second order sliding mode t, fast terminal sliding mode

Procedia PDF Downloads 387