Controller Performance for Quad-Rotor Vehicles Based on Sliding Mode Control | Zendy

Takayoshi Oba | Zendy; Mai Bando | Zendy; Shinji Hokamoto | Zendy

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Controller Performance for Quad-Rotor Vehicles Based on Sliding Mode Control

Author(s) -

Takayoshi Oba,

Mai Bando,

Shinji Hokamoto

Publication year - 2018

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2018.p0397

Subject(s) - control theory (sociology) , controller (irrigation) , sliding mode control , rotor (electric) , robust control , computer science , control engineering , engineering , control (management) , control system , nonlinear system , artificial intelligence , physics , mechanical engineering , quantum mechanics , agronomy , biology , electrical engineering

This study applies a sliding mode control (SMC) strategy for a robust controller of a quad-rotor vehicle. First, a controller combined with a nested control loop and an SMC is introduced, because a quad-rotor vehicle has only four control inputs although the vehicle has six degrees of freedom. The control performance for the feedback gains in the nested loop is investigated in numerical simulations. Subsequently, the effects of practical system limitations (control cycle and rotor dynamics) on the control performance are examined. Finally, the robust performance of the SMC strategy on a quad-rotor vehicle is discussed.

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