Robust Control of a Quadcopter Flying via Sliding Mode

  • Rudi Uswarman Electrical Engineering Department, Institut Teknologi Sumatera, Lampung Selatan, Lampung
  • Swadexi Istiqphara Electrical Engineering Department, Institut Teknologi Sumatera, Lampung Selatan, Lampung
  • Rajif Agung Yunmar Electrical Engineering Department, Institut Teknologi Sumatera, Lampung Selatan, Lampung
  • Arkham Zahri Rakhman Electrical Engineering Department, Institut Teknologi Sumatera, Lampung Selatan, Lampung

Abstract

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.

Published
2019-05-11
How to Cite
USWARMAN, Rudi et al. Robust Control of a Quadcopter Flying via Sliding Mode. Journal of Science and Applicative Technology, [S.l.], v. 2, n. 1, p. 135 - 143, may 2019. ISSN 2581-0545. Available at: <https://journal.itera.ac.id/index.php/jsat/article/view/168>. Date accessed: 08 dec. 2019. doi: https://doi.org/10.35472/281446.