Sliding mode control design for the attitude and altitude of the quadrotor UAV
Article Category: Research-Article
Publié en ligne: 01 juil. 2020
Pages: 1 - 13
Reçu: 19 août 2018
© 2020 Ahmed Eltayeb et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
SMC controller parameters.
Parameter |
𝝓 |
𝜽 |
𝝍 |
z
|
k
|
100 |
100 |
100 |
0.001 |
k1
|
10 |
10 |
10 |
10 |
k2
|
10 |
10 |
10 |
10 |
Parameters of the quadrotor model.
Description |
Symbols |
Values |
Units |
The quadrotor’s mass |
m |
65 × 10−2
|
kg |
x-axis inertia |
Ix
|
7.5 × 10−3
|
kgm2
|
y-axis inertia |
Iy
|
7.5 × 10−3
|
kgm2
|
z-axis inertia |
Iz
|
1.3 × 10−2
|
kgm2
|
Thrust coefficient |
b
|
3.13 × 10−5
|
Ns2
|
Drag coefficient |
d
|
7.5 × 10−7
|
Nms2
|
Inertia of the rotor |
Jr
|
6 × 10−5
|
kgm2
|
Length of the arm |
l
|
23 × 10−2
|
m |
PID controller parameters for the linearized model.
Parameter |
|
|
|
z
|
P
|
30 |
30 |
30 |
60 |
I
|
8 |
8 |
8 |
20 |
D
|
8 |
8 |
8 |
80 |