Position and attitude control of quadrotor MAV using sliding mode control with Tanh function
This paper presents a Sliding Mode Controller (SMC) with Tanh function for position and attitude stabilization of a quadrotor micro aerial vehicle (MAV). Since this MAV weighs less than 0.1 kg, even minor changes in its environment will affect its performance. Hence a robust controller for position...
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| Format: | Book Section |
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Springer Science and Business Media Deutschland GmbH
2022
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| _version_ | 1796866922943348736 |
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| author | Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin Mat Lazim, Izzuddin |
| author_facet | Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin Mat Lazim, Izzuddin |
| author_sort | Noordin, Aminurrashid |
| collection | ePrints |
| description | This paper presents a Sliding Mode Controller (SMC) with Tanh function for position and attitude stabilization of a quadrotor micro aerial vehicle (MAV). Since this MAV weighs less than 0.1 kg, even minor changes in its environment will affect its performance. Hence a robust controller for position x, y, z, and attitude ϕ, θ, and ψ is required. The nonlinearity factor is used to construct the dynamic quadrotor model, and the Lyapunov stability function is then used to verify and guarantee the proposed control scheme. To evaluate the robustness of the proposed control method, the dynamic model was simulated in MATLAB Simulink both with and without external disturbance. In addition, the proposed control approach is compared to the PID control scheme in terms of integral square error (ISE). The results show that sliding mode control utilizing the tanh function has excellent performance and resilience against perturbation at par with PID. |
| first_indexed | 2024-03-05T21:19:26Z |
| format | Book Section |
| id | utm.eprints-100655 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T21:19:26Z |
| publishDate | 2022 |
| publisher | Springer Science and Business Media Deutschland GmbH |
| record_format | dspace |
| spelling | utm.eprints-1006552023-04-30T08:25:35Z http://eprints.utm.my/100655/ Position and attitude control of quadrotor MAV using sliding mode control with Tanh function Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin Mat Lazim, Izzuddin TK Electrical engineering. Electronics Nuclear engineering This paper presents a Sliding Mode Controller (SMC) with Tanh function for position and attitude stabilization of a quadrotor micro aerial vehicle (MAV). Since this MAV weighs less than 0.1 kg, even minor changes in its environment will affect its performance. Hence a robust controller for position x, y, z, and attitude ϕ, θ, and ψ is required. The nonlinearity factor is used to construct the dynamic quadrotor model, and the Lyapunov stability function is then used to verify and guarantee the proposed control scheme. To evaluate the robustness of the proposed control method, the dynamic model was simulated in MATLAB Simulink both with and without external disturbance. In addition, the proposed control approach is compared to the PID control scheme in terms of integral square error (ISE). The results show that sliding mode control utilizing the tanh function has excellent performance and resilience against perturbation at par with PID. Springer Science and Business Media Deutschland GmbH 2022 Book Section PeerReviewed Noordin, Aminurrashid and Mohd. Basri, Mohd. Ariffanan and Mohamed, Zaharuddin and Mat Lazim, Izzuddin (2022) Position and attitude control of quadrotor MAV using sliding mode control with Tanh function. In: Enabling Industry 4.0 through Advances in Mechatronics Selected Articles from iM3F 2021, Malaysia. Lecture Notes in Electrical Engineering, 900 (NA). Springer Science and Business Media Deutschland GmbH, Singapore, pp. 193-204. ISBN 978-981192094-3 http://dx.doi.org/10.1007/978-981-19-2095-0_18 DOI:10.1007/978-981-19-2095-0_18 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin Mat Lazim, Izzuddin Position and attitude control of quadrotor MAV using sliding mode control with Tanh function |
| title | Position and attitude control of quadrotor MAV using sliding mode control with Tanh function |
| title_full | Position and attitude control of quadrotor MAV using sliding mode control with Tanh function |
| title_fullStr | Position and attitude control of quadrotor MAV using sliding mode control with Tanh function |
| title_full_unstemmed | Position and attitude control of quadrotor MAV using sliding mode control with Tanh function |
| title_short | Position and attitude control of quadrotor MAV using sliding mode control with Tanh function |
| title_sort | position and attitude control of quadrotor mav using sliding mode control with tanh function |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
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