Development of backstepping based sliding mode control for a quadrotor

Author

Nadda, Sudhir ; Swarup, A.

Author_Institution

Dept. of Electr. Eng., Nat. Inst. of Technol., Kurukshetra, India

fYear

2014

fDate

7-9 March 2014

Firstpage

10

Lastpage

13

Abstract

This paper has proposed an elaborate development of backstepping-based sliding mode controller for quadrotor dynamics. The proposed controller is simple and effectively enhances the performance of quadrotor. The combination of backstepping with sliding mode control provides stable, robust and good tracking performance. The four rotor control expressions have been derived to manipulate all six degree of freedom. The proposed controller has been applied to a micro quadrotor for position tracking.

Keywords

autonomous aerial vehicles; control nonlinearities; helicopters; microrobots; mobile robots; robot dynamics; stability; telerobotics; variable structure systems; UAVs; backstepping-based sliding mode controller; microquadrotor; position tracking; quadrotor dynamics; robust tracking performance; rotor control expressions; rotorcraft; stable tracking performance; unmanned aerial vehicles; Backstepping; Helicopters; Mathematical model; Propellers; Rotors; Sliding mode control; Vehicle dynamics; Backstepping-Based Sliding Mode control; Lyapunov; Quadrotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing & its Applications (CSPA), 2014 IEEE 10th International Colloquium on

Conference_Location

Kuala Lumpur

Print_ISBN

978-1-4799-3090-6

Type

conf

DOI

10.1109/CSPA.2014.6805711

Filename

6805711