Trajectory Tracking Control of a Four Rotor Unmanned Aerial Vehicle Based on Continuous Sliding Mode Controller

Authors

  • Abdullah Basci
  • Kaan Can
  • Kamil Orman
  • Adnan Derdiyok

DOI:

https://doi.org/10.5755/j01.eie.23.3.18325

Keywords:

Trajectory tracking, UAV, quadrotor, nonlinear control, sliding mode control

Abstract

In this paper, a nonlinear Continuous Sliding Mode control (CSMC) application is presented for trajectory tracking control of a four rotor unmanned aerial vehicle (UAV) called the Quadrotor, also known as micro helicopter. The proposed controller is tested with different time-varying reference routes to provide a stable flight for position control. To show the effectiveness of the designed CSMC, well-tuned PI controller is also applied to quadrotor for the same routes. The current position of the quadrotor is taken from accelerometer, gyroscope and ultrasonic sensors. The experimental results show that the CSMC is adequate to dealing with parameter uncertainties occur in the system dynamics while flying and has satisfactory performance in terms of robustness against to disturbances and error elimination when it compared with PI controller.

DOI: http://dx.doi.org/10.5755/j01.eie.23.3.18325

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Published

2017-06-08

How to Cite

Basci, A., Can, K., Orman, K., & Derdiyok, A. (2017). Trajectory Tracking Control of a Four Rotor Unmanned Aerial Vehicle Based on Continuous Sliding Mode Controller. Elektronika Ir Elektrotechnika, 23(3), 12-19. https://doi.org/10.5755/j01.eie.23.3.18325

Issue

Vol. 23 No. 3 (2017)

Section

AUTOMATION, ROBOTICS

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