Robust Control of a Quadcopter Flying via Sliding Mode

Journal of Science and Applicative Technology

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Title Robust Control of a Quadcopter Flying via Sliding Mode
Creator Uswarman, Rudi
Istiqphara, Swadexi
Yunmar, Rajif Agung
Rakhman, Arkham Zahri
Description Sliding Mode Control (SMC) used to control the stability of a quadcopter from disturbances and uncertainties. This technique has two main advantages: the nonlinear dynamics and modelling errors of the quadcopter can be eliminated by switching function and the uncertainty problem can be overcome with a closed-loop response. The controller of the sliding mode technique consists of two components. The first is design equivalent control law to maintain the system state trajectory on the sliding surface. The second is design switching control law to reach the sliding surface. The Lyapunov theorem is used to ensure the stability of the system. Simulation results verify the robustness of the controller.
Publisher Lembaga Penelitian, Pengabdian Masyarakat, dan Penjaminan Mutu (LPPM), Institut Teknologi Sumatera, Lampung Selatan, Lampung, Indonesia
Date 2019-05-11
Type info:eu-repo/semantics/article
Format application/pdf
Source Journal of Science and Applicative Technology; Vol 2 No 1 (2019): ICoSITeR Special Edition; 135 - 143
Language eng

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