In this thesis, trajectory tracking control of quadrotor Unmanned Aerial Vehicle (UAV) is done by controlling attitude and position of the quadrotor using Sliding Mode Controller (SMC) and fuzzy Proportional, Integrator and Derivative (PID) controller, simultaneously. Quadrotor UAV have been an increasingly popular research topic in recent years due to their low cost, maneuverability, simplicity of structure, ability to hover, vertical take-off and landing (VTOL) capacity and ability to perform variety of tasks. Here two type of controllers were used to track reference trajectories with improved performance. SMC is used for position and altitude (translational dynamics), whereas fuzzy PID controller is used for attitude and heading (rotational dynamics). Dynamic modeling of the quadrotor was derived using Newton-Euler formalization including aerodynamic effects. The proposed SMC and fuzzy PID controller strategies were designed for the non-linear quadrotor dynamics. The controller robustness are tested by adding external random disturbance on the out state. The control performance of SMC alone and mixed sliding mode-fuzzy PID controller are compared. Finally, the behavior of the quadrotor under the proposed control system was validated by using MATLAB/Simulink. The simulation results showed that the performance of the proposed control scheme have better trajectory performance and good disturbance rejection ability. Keywords: Quadrotor, UAV, Dynamic modeling, SMC, Fuzzy PID control
TRAJECTORY TRACKING CONTROL OF QUADROTOR UNMANNED AIRIAL VEHICLE USING SLIDING MODE - FUZZY PROPORTIONAL INTEGRAL DERIVATIVE CONTROLLER
2019-01-01
doi:10.20372/nadre:1550569088.82
Theses
Electronic Resource
English
DDC: | 629 |
State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking
Springer Verlag | 2023
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