Sliding mode controller design for a flying quadrotor with simplified action planner

Sliding mode controller design for a flying quadrotor with simplified action planner

This paper presents the design of a set of sliding mode controllers for a quadrotor vertical take-off and landing (VTOL) unmanned air vehicle. To facilitate the design process of this under-actuated system, this paper proposes the use of a simple yet effective method to plan the action of each varia...

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Main Authors: Mohamed, H.A.F., Yang, S.S., Moghavvemi, M.
Format: Conference or Workshop Item
Published: 2009
Subjects:
TA Engineering (General). Civil engineering (General)
Online Access:http://eprints.um.edu.my/9698/
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Institution: Universiti Malaya
id my.um.eprints.9698
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spelling my.um.eprints.96982017-11-23T02:22:19Z http://eprints.um.edu.my/9698/ Sliding mode controller design for a flying quadrotor with simplified action planner Mohamed, H.A.F. Yang, S.S. Moghavvemi, M. TA Engineering (General). Civil engineering (General) This paper presents the design of a set of sliding mode controllers for a quadrotor vertical take-off and landing (VTOL) unmanned air vehicle. To facilitate the design process of this under-actuated system, this paper proposes the use of a simple yet effective method to plan the action of each variable controller in the system and hence enhance the performance of the quadrotor. To stabilize the overall system, each sliding mode controller is designed based on the Lyapunov stability theory. Various simulations of the model show that the proposed control method stabilizes the quadrotor and achieves good tracking performance. 2009-08 Conference or Workshop Item PeerReviewed Mohamed, H.A.F. and Yang, S.S. and Moghavvemi, M. (2009) Sliding mode controller design for a flying quadrotor with simplified action planner. In: ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, 18-21 August 2009, Fukuoka, Japan.
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
topic TA Engineering (General). Civil engineering (General)
spellingShingle TA Engineering (General). Civil engineering (General)
Mohamed, H.A.F.
Yang, S.S.
Moghavvemi, M.
Sliding mode controller design for a flying quadrotor with simplified action planner
description This paper presents the design of a set of sliding mode controllers for a quadrotor vertical take-off and landing (VTOL) unmanned air vehicle. To facilitate the design process of this under-actuated system, this paper proposes the use of a simple yet effective method to plan the action of each variable controller in the system and hence enhance the performance of the quadrotor. To stabilize the overall system, each sliding mode controller is designed based on the Lyapunov stability theory. Various simulations of the model show that the proposed control method stabilizes the quadrotor and achieves good tracking performance.
format Conference or Workshop Item
author Mohamed, H.A.F.
Yang, S.S.
Moghavvemi, M.
author_facet Mohamed, H.A.F.
Yang, S.S.
Moghavvemi, M.
author_sort Mohamed, H.A.F.
title Sliding mode controller design for a flying quadrotor with simplified action planner
title_short Sliding mode controller design for a flying quadrotor with simplified action planner
title_full Sliding mode controller design for a flying quadrotor with simplified action planner
title_fullStr Sliding mode controller design for a flying quadrotor with simplified action planner
title_full_unstemmed Sliding mode controller design for a flying quadrotor with simplified action planner
title_sort sliding mode controller design for a flying quadrotor with simplified action planner
publishDate 2009
url http://eprints.um.edu.my/9698/
_version_ 1643688631126196224

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