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 |
| Published: |
2020
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| Online Access: | http://eprints.utm.my/96613/1/MohdFuaadRahmat2020_AdaptiveSlidingModeControlDesign.pdf |
| _version_ | 1796866259063668736 |
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| author | Eltayeb, Ahmed Rahmat, Mohd. Fua'ad Mohd. Basri, Mohd. Ariffanan Mohammed Mansour, A. M. |
| author_facet | Eltayeb, Ahmed Rahmat, Mohd. Fua'ad Mohd. Basri, Mohd. Ariffanan Mohammed Mansour, A. M. |
| author_sort | Eltayeb, Ahmed |
| collection | ePrints |
| 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 | 2024-03-05T21:09:28Z |
| format | Conference or Workshop Item |
| id | utm.eprints-96613 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T21:09:28Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | utm.eprints-966132022-08-08T04:44:33Z http://eprints.utm.my/96613/ Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV) Eltayeb, Ahmed Rahmat, Mohd. Fua'ad Mohd. Basri, Mohd. Ariffanan Mohammed Mansour, A. M. TK Electrical engineering. Electronics Nuclear engineering 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. 2020 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/96613/1/MohdFuaadRahmat2020_AdaptiveSlidingModeControlDesign.pdf 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. http://dx.doi.org/10.1088/1757-899X/884/1/012081 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Eltayeb, Ahmed Rahmat, Mohd. Fua'ad Mohd. Basri, Mohd. Ariffanan Mohammed Mansour, 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 | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/96613/1/MohdFuaadRahmat2020_AdaptiveSlidingModeControlDesign.pdf |
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