Title :
Attitude and altitude control of a four-rotor hovercraft using sliding mode control with adaptive sliding surface
Author :
Promkajin, Nicom ; Parnichkun, Manukid
Author_Institution :
Sch. of Eng. & Technol., Asian Inst. of Technol., Pathumthani, Thailand
Abstract :
This paper presents a control algorithm used to control attitude and altitude of a four-rotor hovercraft developed at AIT, using sliding mode control with adaptive sliding surface technique. The craft is controlled to float in horizontal attitude at the desired heading direction and the desired floating height. The simulation results show that the proposed control algorithm can control the craft efficiently.
Keywords :
adaptive control; attitude control; hovercraft; variable structure systems; AIT; adaptive sliding surface technique; altitude control; attitude control; floating height; four-rotor hovercraft control; sliding mode control; Engines; Force; Mathematical model; Noise; Rotors; Simulation; Sliding mode control;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181465
