Sliding Mode Control For Altitude And Attitude Stabilization Of Quadrotor UAV With External Disturbance

Mohd Basri, Mohd Ariffanan and Noordin, Aminurrashid and Mohamed, Zaharuddin (2019) Sliding Mode Control For Altitude And Attitude Stabilization Of Quadrotor UAV With External Disturbance. Indonesian Journal Of Electrical Engineering And Informatics (IJEEI), 7 (2). pp. 203-210. ISSN 2089-3272

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Abstract

This paper addresses the problem of robust altitude and attitude control of ‘×’ mode configuration quadrotor UAV using Lyapunov stability based sliding mode control with saturation function. The dynamic model of the quadrotor was derived by considering nonlinearity factor. MATLAB Simulink was used to simulate the model in two different conditions; without and with the presence of external disturbance. This was done to test the robustness of the control method. Simulation results showed that the sliding mode controller provides good performance and robustness against disturbance.

Item Type:	Article
Uncontrolled Keywords:	Distrubance, Quadrotor, Robustness, Saturation function, Sliding mode control
Subjects:	T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Electrical and Electronic Engineering Technology > Department of Electrical Engineering Technology
Depositing User:	Mohd Hannif Jamaludin
Date Deposited:	19 Jun 2020 11:33
Last Modified:	19 Jun 2020 11:33
URI:	http://eprints.utem.edu.my/id/eprint/24078
Statistic Details:	View Download Statistic

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