Trajectory tracking of a quadrotor using sliding mode control

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

doi:10.1109/TLA.2016.7530409

Trajectory tracking of a quadrotor using sliding mode control

Título traducido de la contribución: Seguimiento de la trayectoria de un cuadrante mediante el control del modo de deslizamiento

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

Grupo de Investigación en Ingeniería Del Transporte (GIIT)

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

75 Citas (Scopus)

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© 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.

Título traducido de la contribución	Seguimiento de la trayectoria de un cuadrante mediante el control del modo de deslizamiento
Idioma original	Inglés estadounidense
Páginas (desde-hasta)	2157-2166
Número de páginas	10
Publicación	IEEE Latin America Transactions
DOI	https://doi.org/10.1109/TLA.2016.7530409
Estado	Publicada - 1 may. 2016

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AU - Verdugo, D.

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AB - © 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.

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Trajectory tracking of a quadrotor using sliding mode control

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