Sliding Mode Path following and Control Allocation of a Tilt-Rotor Quadcopter
A tilt-rotor quadcopter (TRQ) equipped with four tilt-rotors is more agile than its under-actuated counterpart and can fly at any path while maintaining the desired attitude. To take advantage of this additional control capability and enhance the quadrotor system’s robustness and capability, we desi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/21/11088 |
| _version_ | 1797469184838336512 |
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| author | Chih-Chen Yih Shih-Jeh Wu |
| author_facet | Chih-Chen Yih Shih-Jeh Wu |
| author_sort | Chih-Chen Yih |
| collection | DOAJ |
| description | A tilt-rotor quadcopter (TRQ) equipped with four tilt-rotors is more agile than its under-actuated counterpart and can fly at any path while maintaining the desired attitude. To take advantage of this additional control capability and enhance the quadrotor system’s robustness and capability, we designed two sliding mode controls (SMCs): the typical SMC exploits the properties of the rotational dynamics, and the modified SMC avoids undesired chattering. Our simulation studies show that the proposed SMC scheme can follow the planned flight path and keep the desired attitude in the presence of variable deviations and external perturbations. We demonstrate from the Lyapunov stability theorem that the proposed control scheme can guarantee the asymptotic stability of the TRQ in terms of position and attitude following via control allocation. |
| first_indexed | 2024-03-09T19:16:52Z |
| format | Article |
| id | doaj.art-2b552d0b36dd4849915c68392a8aef0b |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T19:16:52Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-2b552d0b36dd4849915c68392a8aef0b2023-11-24T03:37:51ZengMDPI AGApplied Sciences2076-34172022-11-0112211108810.3390/app122111088Sliding Mode Path following and Control Allocation of a Tilt-Rotor QuadcopterChih-Chen Yih0Shih-Jeh Wu1Department of Mechanical & Automation Engineering, I-Shou University, Kaohsiung 84001, TaiwanDepartment of Mechanical & Automation Engineering, I-Shou University, Kaohsiung 84001, TaiwanA tilt-rotor quadcopter (TRQ) equipped with four tilt-rotors is more agile than its under-actuated counterpart and can fly at any path while maintaining the desired attitude. To take advantage of this additional control capability and enhance the quadrotor system’s robustness and capability, we designed two sliding mode controls (SMCs): the typical SMC exploits the properties of the rotational dynamics, and the modified SMC avoids undesired chattering. Our simulation studies show that the proposed SMC scheme can follow the planned flight path and keep the desired attitude in the presence of variable deviations and external perturbations. We demonstrate from the Lyapunov stability theorem that the proposed control scheme can guarantee the asymptotic stability of the TRQ in terms of position and attitude following via control allocation.https://www.mdpi.com/2076-3417/12/21/11088tilt-rotor quadcopter (TRQ)sliding mode control (SMC)control allocationpath following |
| spellingShingle | Chih-Chen Yih Shih-Jeh Wu Sliding Mode Path following and Control Allocation of a Tilt-Rotor Quadcopter Applied Sciences tilt-rotor quadcopter (TRQ) sliding mode control (SMC) control allocation path following |
| title | Sliding Mode Path following and Control Allocation of a Tilt-Rotor Quadcopter |
| title_full | Sliding Mode Path following and Control Allocation of a Tilt-Rotor Quadcopter |
| title_fullStr | Sliding Mode Path following and Control Allocation of a Tilt-Rotor Quadcopter |
| title_full_unstemmed | Sliding Mode Path following and Control Allocation of a Tilt-Rotor Quadcopter |
| title_short | Sliding Mode Path following and Control Allocation of a Tilt-Rotor Quadcopter |
| title_sort | sliding mode path following and control allocation of a tilt rotor quadcopter |
| topic | tilt-rotor quadcopter (TRQ) sliding mode control (SMC) control allocation path following |
| url | https://www.mdpi.com/2076-3417/12/21/11088 |
| work_keys_str_mv | AT chihchenyih slidingmodepathfollowingandcontrolallocationofatiltrotorquadcopter AT shihjehwu slidingmodepathfollowingandcontrolallocationofatiltrotorquadcopter |