<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Recently, the quadrotor unmanned aerial vehicles (UAV) are attracting significant interest from researchers due to its widespread applications, which involve the civilian and military sectors. In this paper, a robust sliding mode control (SMC) algorithm is designed to stabilize the attitude and track the altitude of quadrotor UAV. The switching function in the SMC control law has been replaced by the error function to reduce the chattering influences. The chattering phenomenon is induced by the parameter uncertainties and external disturbances and results in critical issues, for instance, the vibration in the mechanical components. The simulation results of the traditional SMC and feedback linearization (FBL) are used as the benchmark to test and evaluate the performance of the proposed SMC, which proved that the proposed controller outperforms the traditional SMC and FBL controllers.</p>
</abstract>

Recently, the quadrotor unmanned aerial vehicles (UAV) are attracting significant interest from researchers due to its widespread applications, which involve the civilian and military sectors. In this paper, a robust sliding mode control (SMC) algorithm is designed to stabilize the attitude and track the altitude of quadrotor UAV. The switching function in the SMC control law has been replaced by the error function to reduce the chattering influences. The chattering phenomenon is induced by the parameter uncertainties and external disturbances and results in critical issues, for instance, the vibration in the mechanical components. The simulation results of the traditional SMC and feedback linearization (FBL) are used as the benchmark to test and evaluate the performance of the proposed SMC, which proved that the proposed controller outperforms the traditional SMC and FBL controllers.

Sliding mode control design for the attitude and altitude of the quadrotor UAV

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

running-head

Recently, the quadrotor unmanned aerial vehicles (UAV) are attracting significant interest from researchers due to its widespread applications, which involve...

Sliding mode control design for the attitude and altitude of the quadrotor UAV

Article Category: Research-Article

Published Online: Jul 01, 2020

Page range: 1 - 13

Received: Aug 19, 2018

DOI: https://doi.org/10.21307/ijssis-2020-011

Keywords
Quadrotor UAV, Sliding mode control, Feedback linearization, PID control, Chattering

© 2020 Ahmed Eltayeb et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Sliding mode control design for the attitude and altitude of the quadrotor UAV

Article Category: Research-Article

Published Online: Jul 01, 2020

Page range: 1 - 13

Received: Aug 19, 2018

DOI: https://doi.org/10.21307/ijssis-2020-011

KeywordsQuadrotor UAV, Sliding mode control, Feedback linearization, PID control, Chattering

© 2020 Ahmed Eltayeb et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
Quadrotor UAV, Sliding mode control, Feedback linearization, PID control, Chattering