Trajectory control of quadcopter by designing Second order SMC Controller

Mebaye Belete Mamo

Abstract


This paper studies the modelling and control of quadcopter .it models the quadcopter nonlinear dynamics using Lagrange formalism and design controller for attitude (pitch & roll), heading & altitude tracking of quadrotor. The mathematical modelling includes aerodynamic effects and gyroscopic moments. One Non-linear Control strategies, Second-Order Sliding Mode Control (SOSMC) based on super-twisting algorithm has been proposed. 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. The simulation results show excellent modelling and control performance.


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References


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