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Chattering Free Sliding Mode Controller Design for a Quadrotor Unmanned Aerial Vehicle

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Applications of Sliding Mode Control in Science and Engineering

Part of the book series: Studies in Computational Intelligence ((SCI,volume 709))

Abstract

In this paper, a nonlinear model for a Quadrotor Vertical Take-Off and Landing (VTOL) type of Unmanned Aerial Vehicles (UAVs) is firstly established for the attitude and position control. All aerodynamic forces and moments of the studied Quadrotor UAV are described within an inertial frame. Such a dynamical model is obtained using the Newton-Euler formalism. Secondly, an improved nonlinear Sliding Mode Control (SMC) approach is designed for this aircraft in order to stabilize its vertical flight dynamics, while avoiding the classical chattering problem. Since chattering phenomena is the most problematic issue in the sliding mode control applications, a Quasi Sliding Mode Control (QSMC) technique is used as a solution for the chattering avoidance in Quadrotor dynamics control. Demonstrative simulations are carried out in order to show the effectiveness of the proposed QSMC approach for the stabilization and tracking of various desired trajectories.

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Author information

Authors and Affiliations

  1. Research Laboratory in Automatic Control (LA.R.A), National Engineering School of Tunis (ENIT), University of Tunis El MANAR, BP 37, 1002, Le Belvédère, Tunis, Tunisia

    Nour Ben Ammar, Soufiene Bouallègue & Joseph Haggège

  2. High Institute of Industrial Systems of Gabès (ISSIG), Salaheddine EL AYOUBI Street, 6011, Gabès, Tunisia

    Soufiene Bouallègue

  3. Research and Development Centre, Vel Tech University, No. 42, Avadi-Vel Tech Road, Avadi, Chennai, 600062, Tamil Nadu, India

    Sundarapandian Vaidyanathan

Authors
  1. Nour Ben Ammar
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  2. Soufiene Bouallègue
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  3. Joseph Haggège
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  4. Sundarapandian Vaidyanathan
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Corresponding author

Correspondence to Soufiene Bouallègue .

Editor information

Editors and Affiliations

  1. Research and Development Centre, Vel Tech University, Chennai, Tamil Nadu, India

    Sundarapandian Vaidyanathan

  2. Maritime College and Department of Marine Engineering, National Kaohsiung Marine University, Kaohsiung, Taiwan

    Chang-Hua Lien

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Ammar, N.B., Bouallègue, S., Haggège, J., Vaidyanathan, S. (2017). Chattering Free Sliding Mode Controller Design for a Quadrotor Unmanned Aerial Vehicle. In: Vaidyanathan, S., Lien, CH. (eds) Applications of Sliding Mode Control in Science and Engineering. Studies in Computational Intelligence, vol 709. Springer, Cham. https://doi.org/10.1007/978-3-319-55598-0_3

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  • DOI: https://doi.org/10.1007/978-3-319-55598-0_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-55597-3

  • Online ISBN: 978-3-319-55598-0

  • eBook Packages: EngineeringEngineering (R0)

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