Robust Second Order Sliding Mode Control For A Quadrotor Considering Motor Dynamics

Transcript

In this paper, a robust second order sliding mo de control (SMC) for controlling a quadrotor with uncertain parameters presented based on high order sliding mode control (HOSMC). A controller based on the HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering moto r dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances with consider t o motor dynamics. Simulation results show that the proposed controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be used in real time applications .