Noordin, Aminurrashid and Basri, Mohd Ariffanan Mohd and Mohamed, Zaharuddin and Lazim, Izzuddin Mat (2023) Position and attitude control of MAV quadrotor using super twisting sliding mode control. In: 5th International Conference on Electrical, Electronic, Communication and Control Engineering, ICEECC 2021, 15 December 202 1through 16 December 2021, Johor Bahru.
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Position and attitude control of MAV quadrotor using super twisting sliding mode control.pdf Restricted to Repository staff only Download (888kB) |
Abstract
This paper addresses the problem of robust actuated and under-actuated control of a Parrot Mambo Minidrone using Super Twisting Sliding Mode Control (STSMC). The dynamic model of the quadrotor was formulated using the Newtonian model by considering nonlinearity factor and perturbation. To test the robustness of the control method, this small-scale Micro Aerial Vehicle (MAV) was simulated without and with the presence of normal Gaussian white noise and pulse of force as external disturbances. The perturbations were assumed as excitation of 30% of the energy required for flight. Compared to classical Proportional-Integral-Derivative (PID) control, circle trajectory simulation results proved that the STSMC provides good performance and robustness against perturbation with less chattering input signal.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | Unmanned Aerial Vehicle, Pilotless Aircraft, Antenna |
| Divisions: | Faculty Of Electrical Technology And Engineering |
| Depositing User: | Anis Suraya Nordin |
| Date Deposited: | 17 Oct 2024 08:36 |
| Last Modified: | 17 Oct 2024 08:36 |
| URI: | http://eprints.utem.edu.my/id/eprint/28023 |
| Statistic Details: | View Download Statistic |
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