Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Modeling of Digital Twin Workshop Based on Perception Data Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Attitude and Position Control of Quadrotor UAV Using PD-Fuzzy Sliding Mode Control

Authors : Jong Ho Han, Yi Min Feng, Fei Peng, Wei Dong, Xin Jun Sheng

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

In this paper designs PD-fuzzy sliding mode control for the quadrotor UAV to implement the trajectory-tracking mission. Firstly, dynamic model is introduced for quadrotor UAV. Secondly, the PD-fuzzy sliding mode control is proposed to make the real value of the UAV reach the desired value command, although the UAV is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the UAV is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter A Trajectory Planning and Control System for Quadrotor Unmanned Aerial Vehicle in Field Inspection Missions
next chapter Integrated Design and Analysis of an Amplitude-Variable Flapping Mechanism for FMAV
Literature
1.
Samir, Z.: Sliding mode control strategy for a 6 DOF quadrotor helicopter. J. Electr. Eng. 10, 1–7 (2002)
2.
Erginer, B., Altug, E.: Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle. Int. J. Control Autom. Syst. 10(1), 61–70 (2012)CrossRef
3.
Lee, D., Jin Kim, H., Sastry, S.: Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter. Int. J. Control Autom. Syst. 7(3), 419–428 (2009)CrossRef
4.
Aguilar-lbanez, C., Humberto Sossa-Azuela, J., Suarez-Castanon, M.S.: A backstepping-based procedure with saturation functions to control the PVTOL system. Nonlinear Dyn. 83, 1247–1257 (2016)
5.
Lin, H., Yu, Y., Zhong, Y.: Robust trajectory control for a laboratory”. Nonlinear Dyn. 77, 621–634 (2014)CrossRefMATH
6.
Bouabdallah, S., Noth, A., Siegwart, R.: PID vs LQ control techniques applied to an indoor micro quadrotor. In: Proceedings of 2004 IEEE/RSJ International Conference Intelligent Robots and Systems, pp. 2451–2456 (2004)
7.
Madani, T., Backstepping, A.B.: Control for a quadrotor helicopter. In: Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China (2006)
8.
Castillo, P., Albertos, P., Garcia, P., Lozano, R.: Simple real-time attitude stabilization of a quadrotor aircraft with bounded signals. In: Proceedings of the 45th IEEE Conference on Decision and Control, pp. 1533–1538 (2006)
9.
Mokhtari, A., Benallegue, A., Mian, B.D.A.A., Daobo, W.: Modeling and backstepping-based nonlinear control strategy for a 6 DOF quadrotor helicopter. Chin. J. Aeronaut. 21, 261–268 (2008)CrossRef
10.
11.
Fang, Z., Zhi, Z., Jun, L., Jian, W.: Feedback linearization and continuous sliding mode control for a quadrotor UAV. In: Proceedings of the 27th Chinese Control Conference, pp. 16–18 (2008)
12.
Bouabdallah, S., Siegwart, R.: Backstepping and sliding-mode techniques applied to an indoor micro quadrotor. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation (2005)
13.
14.
Lee, K., Back, J., Choy, I.: Nonlinear disturbance observer based robust attitude tracking controller for quadrotor UAVs. Int. J. Control Autom. Syst. 12(6), 1266–1275 (2014)CrossRef
15.
Wang, X., Shirinzadeh, B., Ang, M.H.: Nonlinear doubleintegral observer and application to quadrotor aircraft. Ind. Electron. IEEE Trans. 62(2), 1189–1200 (2015)CrossRef
16.
Zheng, E.-H., Xiong, J.-J., Luo, J.-L.: Second order sliding mode control for a quadrotor UAV. ISA Trans. 53, 1350–1356 (2014)CrossRef
17.
Khebbache, H., Tadjine, M.: Robust fuzzy backstepping sliding mode controller for a quadrotor unmanned aerial vehicle. Control Eng. Appl. Inf. 15(2), 3–11 (2013)
18.
Zhi, L., Youn, W.: Fuzzy adaptive tracking control within the full envelope for an unmanned aerial vehicle. Chin. J. Aeronaut. 27(5), 1273–1287 (2014)CrossRef
19.
Novak, D., Cermak, P.: Fuzzy-based method of detecting the environment character for UAV optical stabilization. Adv. Electr. Electron. Eng. 13(3), 255–261 (2015)
Metadata
Title
Attitude and Position Control of Quadrotor UAV Using PD-Fuzzy Sliding Mode Control
Authors
Jong Ho Han
Yi Min Feng
Fei Peng
Wei Dong
Xin Jun Sheng
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65297-9

Electronic ISBN: 978-3-319-65298-6

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65298-6_51

Premium Partner

    Image Credits