Regulation control of quadcopter by designing Second Order SMC Controller

mebaye belete mamo

Abstract


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.

Full Text:

PDF

References


Vachtsevanos, Kimon P. Valavanis, George J., Handbook UAV, New York, London: Springer, 2015.

R. Jategaonkar, Flight vehicle system identification a time domain methodology, Reston, Virginia: American Institute of Aeronautics and Astronautics Inc, 2015.

Q. Quan, Introduction to Multicopter Design and Design, Beijing,china: Springer, 2017.

D. Norris, Build Your Own Quadcopter, New York, Chicago: McGraw-Hill Education, 2014.

P. Johan From, J. Tommy Gravdahl, K. Ytterstad Pettersen, Vehicle Manipulator System, Verlag, London: Springler, 2014.

D. Lee, H. Jin Kim, and S. Sastry, "Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter," International Journal of Control Automation and Systems,, vol. 3, no. 7, pp. pp. 419-428, 2009.

S. Bouabdallah, A. Noth, and R. Siegwart, "PID vs LQ control techniques applied to an indoor micro quadrotor," in in International Conference on Intelligent Robots and Systems, 2004.

S. Bouabdallah, "Design and Control of Quadrotors with Application to Autonomous Flying," OAI, MSc thesis Zurich, vol. 10, no. 5775, 2007.

A. REZOUG, M. HAMERLAIN, Z. ACHOUR and M. TADJINE, "Applied of an Adaptive Higher Order Sliding Mode Controller to Quadrotor Trajectory Tracking," in IEEE International Conference on Control System, Computing and Engineering, Penang, Malaysia, November, 2015.

O. Gherouat, D. Matouk, A. Hassam and F. Abdessemed, "Modeling and Sliding Mode Control of a Quadrotor Unmanned Aerial Vehicle," J. Automation and Systems Engineering, vol. 10, no. 3, pp. 150-157, 2016.

Abraham Villanueva, B. Castillo-Toledo and Eduardo Bayro-Corrochano, "Multi-mode Flight Sliding Mode Control System for a Quadrotor," in 2015 International Conference on Unmanned Aircraft Systems (ICUAS), Denver, Colorado, USA, June, 2015.

Yi Kui, Gu Feng, Yang Liying, He Yuqing, Han Jianda, "Sliding Mode Control for a Quadrotor Slung Load System," in Proceedings of the 36th Chinese Control Conference, Dalian, China, July 26-28, 2017.

S. Bouabdallah, A. Noth and R. Siegwart, PID vs. LQ Control Techniques Applied to an Indoor Micro Quadrotor, Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2451–2456, Sendai, Japan, October 2004.

S. Khatoon, D. Gupta, and L.K. Das, PID and LQR control for a Quadrotor: Modeling and simulation, Proceedings of the 2014 International Conference on Advances in Computing, Communications and Informatics, pp. 796–802, New Delhi, September 2014.

V.G. Adr, A.M. Stoica and J.F. Whidborne, Sliding mode control of a4Y octorotor, UPB Scientific Bulletin, Series D: Mechanical EngineeringJournal, vol. 74, no. 4, pp. 37-52, 2012.

E-H. Zheng, J-J. Xiong and J-L. Luo, Second Order Sliding ModeControl for a Quadrotor UAV, ISA Transactions, vol. 53, no. 4, pp. 1350–1356, 2014.

L. Besnard, Y.B. Shtessel and B. Landrum, Quadrotor Vehicle Controlvia Sliding Mode Controller Driven by Sliding Mode Disturbance Observer, Journal of the Franklin Institute, vol. 349, pp. 658–684, 2012.

J-J.E. Slotine and W. Li, Applied nonlinear control, Prentice-Hall, Englewood Cliffs, New Jersey, 1991.

G.V. Raffo, M.G. Ortega and F.R. Rubio, An Integral Predictive/Nonlinear H1 Control Structure for a Quadrotor Helicopter, Automatica, vol. 46, no.1, pp. 29–39, 2010.

S. Islam, J. Dias and L.D. Seneviratne, Adaptive tracking control for Quadrotor unmanned flying vehicle, Proceedings of the 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM),pp. 441–445, Besanon, France, July 2014.


Refbacks

  • There are currently no refbacks.


Copyright (c) 2020 Journal of Electrical Engineering, Electronics, Control and Computer Science

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.