Eltayeb, Ahmed and Rahmat, Mohd. Fua'ad and Mohd. Basri, Mohd. Ariffanan and Mohammed Mansour, A. M. (2020) Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV). In: 2019 Sustainable and Integrated Engineering International Conference, SIE 2019, 8 - 9 December 2019, Putrajaya, Malaysia.
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Official URL: http://dx.doi.org/10.1088/1757-899X/884/1/012081
Abstract
In this article, the adaptive sliding mode controller (ASMC) is developed for the quadrotor attitude subsystem. The proposed ASMC controller aims to reduce/decrease the unwanted chattering phenomena associated with the conventional sliding mode controller, and meanwhile achieving a robust trajectory tracking for the attitude. The stability of the proposed (ASMC) controller has been verified based on Lyapunov stability theorem. The quadrotor UAV model and the performance of the proposed controller have been simulated and tested by simulation using MATLAB/SIMULINK environment. The simulation result is proof that the chattering has been reduced significantly.
| Item Type: | Conference or Workshop Item (Paper) |
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| Uncontrolled Keywords: | sliding mode, quadrotor UAV |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 96613 |
| Deposited By: | Widya Wahid |
| Deposited On: | 08 Aug 2022 04:44 |
| Last Modified: | 08 Aug 2022 04:44 |
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