Trajectory Tracking Control of a Four Rotor Unmanned Aerial Vehicle Based on Continuous Sliding Mode Controller

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BAŞÇİ A., CAN K., ORMAN K., Derdiyok A.

ELEKTRONIKA IR ELEKTROTECHNIKA, cilt.23, sa.3, ss.12-19, 2017 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 23 Sayı: 3
  • Basım Tarihi: 2017
  • Doi Numarası: 10.5755/j01.eie.23.3.18325
  • Dergi Adı: ELEKTRONIKA IR ELEKTROTECHNIKA
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.12-19
  • Erzincan Binali Yıldırım Üniversitesi Adresli: Evet

Özet

In this paper, a nonlinear Continuous Sliding Mode control (CSMC) application is presented for trajectory tracking control of a four rotor unmanned aerial vehicle (UAV) called the Quadrotor, also known as micro helicopter. The proposed controller is tested with different time-varying reference routes to provide a stable flight for position control. To show the effectiveness of the designed CSMC, well-tuned PI controller is also applied to quadrotor for the same routes. The current position of the quadrotor is taken from accelerometer, gyroscope and ultrasonic sensors. The experimental results show that the CSMC is adequate to dealing with parameter uncertainties occur in the system dynamics while flying and has satisfactory performance in terms of robustness against to disturbances and error elimination when it compared with PI controller.