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Please use this identifier to cite or link to this item: http://dspace.ucuenca.edu.ec/handle/123456789/29199
Title: Trajectory tracking of a quadrotor using sliding mode control
Authors: Reinoso, M
Astudillo Salinas, Darwin Fabián
Minchala Avila, Luis Ismael
Keywords: Nonlinear System
Sliding Mode Control
Trajectory Tracking
Unmanned Aerial Vehicle
Issue Date: 1-May-2016
metadata.dc.ucuenca.embargoend: 1-Jan-2022
metadata.dc.ucuenca.volumen: 14
metadata.dc.source: IEEE Latin America Transactions
metadata.dc.identifier.doi: 10.1109/TLA.2016.7530409
metadata.dc.type: Article
This paper presents the design of a sliding mode control (SMC) for trajectory tracking of an unmanned aerial vehicle (UAV), quadrotor. A simplified model of the quadrotor is used for the controller design. The robustness of the controller is verified through simulations, and also through data analysis from the experiments in the 3DR Arducopter platform. The SMC algorithms are implemented in a microcontroller that communicates with a human machine interface (HMI), which monitors the behavior and stability of the state variables. The results show effectiveness of the control technique for maintaining stability in the quadrotor under different operating scenarios.
URI: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84981225453&doi=10.1109%2fTLA.2016.7530409&partnerID=40&md5=55b768ebfe6d046eabfd051bde74b8f5
ISSN: 15480992
Appears in Collections:Artículos

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