Trajectory Tracking of a Quadrotor Using Sliding Mode Control

被引：72

作者：

Reinoso, M. ^{[1
]}

Minchala, L. I. ^{[2
]}

Ortiz, J. P. ^{[3
]}

Astudillo, D. ^{[2
]}

Verdugo, D. ^{[4
]}

机构：

[1] Univ Cuenca, Cuenca, Ecuador

[2] Univ Cuenca, Dept Elect Elect & Telecommun Engn, Cuenca, Ecuador

[3] Univ Politecn Salesiana, Automot Engn, Cuenca, Ecuador

[4] Univ Catolica Cuenca, Cuenca, Ecuador

来源：

IEEE LATIN AMERICA TRANSACTIONS | 2016年 / 14卷 / 05期

关键词：

nonlinear system; sliding mode control; unmanned aerial vehicle; trajectory tracking; HELICOPTER; STABILIZATION;

D O I：

10.1109/TLA.2016.7530409

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the design of a sliding mode control (SMC) for trajectory tracking of an unmanned aerial vehicle (UAV), quadrotor. A simplified model of the quadrotor is used for the controller design. The robustness of the controller is verified through simulations, and also through data analysis from the experiments in the 3DR Arducopter platform. The SMC algorithms are implemented in a microcontroller that communicates with a human machine interface (HMI), which monitors the behavior and stability of the state variables. The results show effectiveness of the control technique for maintaining stability in the quadrotor under different operating scenarios.

引用

页码：2157 / 2166

页数：10

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