Trajectory tracking of a quadrotor using sliding mode control

M. Reinoso, L. I. Minchala, J. P. Ortiz, D. Astudillo, D. Verdugo

Research output: Contribution to journalArticlepeer-review

73 Scopus citations

Abstract

© 2016 IEEE. This paper presents the design of a sliding mode control (SMC) for trajectory tracking of an unmanned aerial vehicle (UAV), quadrotor. A simplified model of the quadrotor is used for the controller design. The robustness of the controller is verified through simulations, and also through data analysis from the experiments in the 3DR Arducopter platform. The SMC algorithms are implemented in a microcontroller that communicates with a human machine interface (HMI), which monitors the behavior and stability of the state variables. The results show effectiveness of the control technique for maintaining stability in the quadrotor under different operating scenarios.
Translated title of the contributionSeguimiento de la trayectoria de un cuadrante mediante el control del modo de deslizamiento
Original languageEnglish (US)
Pages (from-to)2157-2166
Number of pages10
JournalIEEE Latin America Transactions
DOIs
StatePublished - 1 May 2016

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