Research Article
Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle Using Sliding Mode Controller with the Presence of Gaussian Disturbance
@INPROCEEDINGS{10.1007/978-3-030-80621-7_24, author={Biruk Tadesse Nadew and Asrat Mulatu Beyene and Beza Nekatibeb and Mulugeta Debebe}, title={Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle Using Sliding Mode Controller with the Presence of Gaussian Disturbance}, proceedings={Advances of Science and Technology. 8th EAI International Conference, ICAST 2020, Bahir Dar, Ethiopia, October 2-4, 2020, Proceedings, Part I}, proceedings_a={ICAST}, year={2021}, month={7}, keywords={UAV Quadrotor SMC Dynamic modeling}, doi={10.1007/978-3-030-80621-7_24} }- Biruk Tadesse Nadew
Asrat Mulatu Beyene
Beza Nekatibeb
Mulugeta Debebe
Year: 2021
Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle Using Sliding Mode Controller with the Presence of Gaussian Disturbance
ICAST
Springer
DOI: 10.1007/978-3-030-80621-7_24
Abstract
In this research paper, trajectory following control of the quadrotor unmanned aerial vehicle (UAV) is carried out using the sliding mode controller (SMC) to control the position and attitude of the quadrotor, including the impact of disturbances. Due to their low cost, simplicity configuration of the structure, ability to hover, maneuverability, vertical take-off, and landing (VTOL) capability, and the ability to accomplished a variety of tasks, Quadrotor UAV has become an increasingly common research subject in recent years. The complex model of the quadrotor, including aerodynamic effects, was derived using Newton-Euler formalization. Here, SMC controllers were designed to track reference trajectories for the nonlinear model. The robustness and reliability of the controller are checked by applying external random disturbances to the quadrotor’s position and attitude. Finally, by using MATLAB /Simulink, the action of the quadrotor/quadcopter under the suggested control scheme has been implemented. The results show that all control system becomes stable and robust in terms of disturbance rejection.
