Sliding Mode Control of a Quadrotor Helicopter

In this paper, we present a new design method for the flight control of an autonomous quadrotor helicopter based on sliding mode control. Due to the under-actuated property of a quadrotor helicopter, the controller can make the helicopter move three positions (x, y, z) and the yaw angle to their des...

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Bibliographic Details
Published inProceedings of the 45th IEEE Conference on Decision and Control pp. 4957 - 4962
Main Authors Rong Xu, Ozguner, U.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2006
Subjects
Attitude control
Clocks
Error correction
Helicopters
Payloads
Propellers
Robust control
Rotors
Sliding mode control
Uncertainty
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ISBN9781424401710
1424401712
ISSN0191-2216
DOI10.1109/CDC.2006.377588

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Summary:In this paper, we present a new design method for the flight control of an autonomous quadrotor helicopter based on sliding mode control. Due to the under-actuated property of a quadrotor helicopter, the controller can make the helicopter move three positions (x, y, z) and the yaw angle to their desired values and stabilize the pitch and roll angles. A sliding mode control is proposed to stabilize a class of cascaded under-actuated systems. The global stability analysis of the closed-loop system is presented. The advantage of sliding mode control is its insensitivity to the model errors, parametric uncertainties and other disturbances. Simulations show that the control law robustly stabilizes a quadrotor
ISBN:9781424401710
1424401712
ISSN:0191-2216
DOI:10.1109/CDC.2006.377588