Sliding Mode Control: An Approach to Control a Quadrotor

Marco Herrera, William Chamorro, Alejandro P. Gómez, Oscar Camacho

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

53 Scopus citations

Abstract

This paper describes the synthesis and application of controller based on sliding mode theory to a quad rotor. A PD sliding surface is considered for vertical take-off and landing aircraft, also changes in angles are done, and some disturbances are included. Therefore, the controller can be implemented using a PD controller as the sliding surface, and adding some algebra the complete controller algorithm is presented. The controller is tested by simulations.

Original languageEnglish
Title of host publicationProceedings - 2015 Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015
EditorsAlberto Sanchez, Carlos Monsalve, Zenon Chaczko
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages314-319
Number of pages6
ISBN (Electronic)9781479975884
DOIs
StatePublished - 1 Oct 2015
Externally publishedYes
EventAsia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015 - Quito, Pichincha, Ecuador
Duration: 14 Jul 201516 Jul 2015

Publication series

NameProceedings - 2015 Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015

Conference

ConferenceAsia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015
Country/TerritoryEcuador
CityQuito, Pichincha
Period14/07/1516/07/15

Keywords

  • Control theory
  • Nonlinear control
  • Sliding Mode Control
  • UAV's

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