Autonomous Flight Control of a Small Drone Outdoors Using Sliding Mode Control

In this paper, we designed an attitude controller for a quadcopter based on sliding mode control. Autonomous flight experiments on a straight line path were conducted in the outdoors. The control performance of the conventional PID control method and the sliding mode control method designed in this...

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Bibliographic Details
Published inShisutemu Seigyo Jouhou Gakkai rombunshi Vol. 35; no. 9; pp. 209 - 216
Main Authors Onoyama, Hiroyuki, Nakanishi, Takaki, Uchida, Tatsuya, Fukao, Takanori
Format Journal Article
LanguageJapanese
English
Published Kyoto THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE) 15.09.2022
Japan Science and Technology Agency
Subjects
ArduPilot
Attitude control
autonomous flight control
Control methods
Control systems design
Errors
Flight control
outdoor
Pitch (inclination)
Proportional integral derivative
quadcopter
Rolling motion
Sliding mode control
Straight lines
Wind speed
Yaw
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Summary:In this paper, we designed an attitude controller for a quadcopter based on sliding mode control. Autonomous flight experiments on a straight line path were conducted in the outdoors. The control performance of the conventional PID control method and the sliding mode control method designed in this paper was compared at a wind speed of 3 m/s. In the case of PID control, the maximum errors of the lateral direction, roll angle, pitch angle, and yaw angle were 34.6 cm, 2.59 deg, 5.61 deg, and 15.02 deg, respectively, on the other hand, in the case of sliding mode control, they were 20.5 cm, 1.49 deg, 1.43 deg, and 5.62 deg, respectively. Therefore, under a wind speed of 3.0 m/s, the results of position and attitude angle errors indicate that sliding mode control is effective in improving the robustness of the system.
ISSN:1342-5668
2185-811X
DOI:10.5687/iscie.35.209