Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV)
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...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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IOP Publishing
2020
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/30334/1/Adaptive%20sliding%20mode%20control%20design%20for%20the%20attitude.pdf |
| _version_ | 1796994409298919424 |
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| author | Eltayeb, Ahmed Mohd Fua’ad, Rahmat Mohd Ariffanan, Mohd Basri Mansour, Mohammed A. M. |
| author_facet | Eltayeb, Ahmed Mohd Fua’ad, Rahmat Mohd Ariffanan, Mohd Basri Mansour, Mohammed A. M. |
| author_sort | Eltayeb, Ahmed |
| collection | UMP |
| description | 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. |
| first_indexed | 2024-03-06T12:47:23Z |
| format | Conference or Workshop Item |
| id | UMPir30334 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:47:23Z |
| publishDate | 2020 |
| publisher | IOP Publishing |
| record_format | dspace |
| spelling | UMPir303342021-07-26T13:58:51Z http://umpir.ump.edu.my/id/eprint/30334/ Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV) Eltayeb, Ahmed Mohd Fua’ad, Rahmat Mohd Ariffanan, Mohd Basri Mansour, Mohammed A. M. TJ Mechanical engineering and machinery TS Manufactures 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. IOP Publishing 2020-07-20 Conference or Workshop Item PeerReviewed pdf en cc_by http://umpir.ump.edu.my/id/eprint/30334/1/Adaptive%20sliding%20mode%20control%20design%20for%20the%20attitude.pdf Eltayeb, Ahmed and Mohd Fua’ad, Rahmat and Mohd Ariffanan, Mohd Basri and Mansour, Mohammed A. M. (2020) Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV). In: IOP Conference Series: Materials Science and Engineering; 2019 Sustainable and Integrated Engineering International Conference, SIE 2019 , 8 - 9 December 2019 , The Everly Putrajaya, Putrajaya. pp. 1-8., 884 (1). ISSN 1757-8981 (Print), 1757-899X (Online) https://doi.org/10.1088/1757-899X/884/1/012081 |
| spellingShingle | TJ Mechanical engineering and machinery TS Manufactures Eltayeb, Ahmed Mohd Fua’ad, Rahmat Mohd Ariffanan, Mohd Basri Mansour, Mohammed A. M. Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV) |
| title | Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV) |
| title_full | Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV) |
| title_fullStr | Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV) |
| title_full_unstemmed | Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV) |
| title_short | Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV) |
| title_sort | adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle uav |
| topic | TJ Mechanical engineering and machinery TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/30334/1/Adaptive%20sliding%20mode%20control%20design%20for%20the%20attitude.pdf |
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