Hexacopter unmanned aerial vehicles (HUAV) are an onboard pilotless aerial vehicles with six propellers that are symmetrically arranged. In this research, the mathematical modeling of hexacopter unmanned aerial vehicles using Newton Euler methods. And design of nonlinear integral sliding mode (NISM) controller is presented. While modeling the system, external disturbances like gyroscopic moment and aerodynamic effects have been included. The global stability of the system is checked using Krsoviskii Theorem; and the plant interaction is investigated to check the relationship between the state variable and the effects of the input on the output. Then, NISM controller is designed for both tracking and regulation problems to control attitude, altitude, and heading motions of HUAV by using MATLAB-Simulink software. The results have shown that the proposed controller can track and regulate with maximum error of 0.16 without chattering effect. Then controller robustness is checked by hankel norms and the results are less than 1. Finally the five performance index values of the controller are measured and compared with PID and NPID controllers.
Control of Hexacopter UAV by using Non Linear Instegraal Sliding Model Controller
2020-12-09
doi:10.20372/nadre/19748
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |
DYNAMIC MODELING AND TRAJECTORY TRACKING CONTROL OF HEXACOPTER USING SLIDING MODE CONTROLLER
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