Title of article :
Robust Control of a Quadrotor
Author/Authors :
Torabi, Kamal Department of Electrical Engineering - Ahar Branch Islamic Azad University , Ghafari Kashani, Alireza Department of Electrical Engineering - Ahar Branch Islamic Azad University
Abstract :
In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controller. The position controller is also a design using SMC and the attitude controller is faster than position controller.
Keywords :
Trajectory tracking , SMC , Robust control , Quadrotor helicopter
Journal title :
Astroparticle Physics
