Regulation control of quadcopter by designing Second Order SMC Controller

mebaye belete mamo


Quadrotor have been an increasingly popular research topic in recent year due to their low cost, manoeuvrability, simplicity of structure, ability to hover, their vertical take-off and landing (VTOL) capacity and ability to perform variety of tasks. Besides, it is a great platform for control systems research, which is highly nonlinear and under-actuated system.The main target of this paper is to model the quadrotor nonlinear dynamics using Lagrange formalism and design controller for attitude (pitch & roll), heading & altitude regulation of quadrotor. The mathematical modelling includes aerodynamic effects and gyroscopic moments. One Non-linear Control strategies, Higher-Order Sliding Mode Control (HOSMC) based on super-twisting algorithm has been proposed.  Higher-Order Sliding Mode Controller is designed for regulation or stabilization on the four controlled variables. The Controller has been implemented on the quadrotor physical model using Matlab/Simulink software. Finally, the performance of the proposed controller demonstrated in simulation study.

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