Design of sliding mode and backstepping controllers for a quadcopter

Tripathi, Vibhu Kumar; Behera, Laxmidhar; Verma, Nishchal K.

doi:10.1109/natsys.2015.7489097

Cited by 42 publications

(13 citation statements)

References 8 publications

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“…Newton Euler's method provides the basis to derive the rotational equations in the body frame as [13,14]: Ω is the relative speed of the rotor and i Ω is the angular velocity of i th rotor. The orientation parameters of the quadcopter are approximated and can be found as [1,4]:…”

Section: Dynamic Modelmentioning

confidence: 99%

“…Where 1q U is input for the system hovering and altitude, 2q U , 3q U and 4q U are the inputs for orienting the quadrotor and used for the roll, pitch and the yaw angles of the quadcopter respectively. Equation (11) can be decomposed into acceleration terms and may be written in terms of state variables as given in [1,4]:…”

Section: State-space Model Of the Systemmentioning

confidence: 99%

“…Now the state vector for quadcopter system in general form and system state space representation based on (8) to (10) and (13) to (15) is given in (16) and (17) respectively [1,4,11]:…”

Section: State-space Model Of the Systemmentioning

confidence: 99%

“…In order to have this, few assumptions are made so that quadcopter has stable hovering. As there are no any aero dynamical lifting surfaces therefore aerodynamic moments and forces are assumed to be negligible [1,4,11]. Mathematically, these assumptions are given as below and based on these assumptions the system in (11) may be reduced as given in (18 (18) This equation makes the designing of controller bit easy as well as robustness of the system may also be analyzed.…”

Section: De-coupling For Hoveringmentioning

confidence: 99%

“…Among the various configurations of unmanned aerial vehicles such as fixed & rotary wings and Flapping & blimp wing UAVs, the quadcopter among the rotary wing UAVs has been remained under the investigation by different researchers. Quad rotor has become more useful and expedient for completion of different operations and variety of applications such as agriculture, rescue operations because of its features such as hovering and vertical takeoff and landing due to its nature and the way it can perform the different tasks for both military and civilian scenarios as mentioned in [1,2]. Also apart from these applications quad-rotors in their autopilot modes are also being utilized for research as well as industrial applications.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Design of Robust & Predictive Controller for Altitude Stabilization and Trajectory Tracking of a Quad-Copter

Bushra¹,

Memon²,

Nighat³

et al. 2018

IJET

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Controlling the non-linear dynamics of the quad-copter has stimulated many control engineers to investigate & design the variety of controllers in order to control and stabilize the various aspects of quad copter such as the attitude, altitude, heading, xy position and even in trajectory following in the presence of disturbance. This is because of the quad-copter's application and importance in the variety of fields such as military, rescue, agriculture, surveillance, investigation, etc. Altitude control & stabilization problem of the quad-copter is the main focus of this research study. A dynamic and predictive controller is designed for the said problem based on Model predictive controller. In order to deal with the uncertainties & dynamics of the model during the flight operation and to ensure the robustness for the designed system, the sliding mode control technique is presented. Proportional-Integral-Derivative controller is also implemented for the system to make a comparative analysis with the rest of the designed controllers. Apart from controlling & stabilizing the altitude, these controllers are also capable for the trajectory tracking of the quad-copter. The six degree of freedom coupled model of quad-copter is taken into account and the same is then de-coupled for quad-copter hovering. In order to confirm the asymptotically stable state of the system, stability analysis of the proposed controller design is also done. The designed system is simulated in MATLAB/SIMULINK and also the comparison for robust and predictive controller is presented in order to depict the degree of potency of the proposed controller.

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Section: Dynamic Modelmentioning

confidence: 99%

Section: State-space Model Of the Systemmentioning

confidence: 99%

“…Now the state vector for quadcopter system in general form and system state space representation based on (8) to (10) and (13) to (15) is given in (16) and (17) respectively [1,4,11]:…”

Section: State-space Model Of the Systemmentioning

confidence: 99%