Autonomous Quadcopter Trajectory Tracking and Stabilization Using Control System Based on Sliding Mode Control and Kalman Filter

Abstract

In this paper, a control system based on Sliding Mode Control (SMC) and Kalman Filter has been designed to stabilize the quadcopter in the takeoff and hover phases as well as at the expected altitude. The control system is needed to support the performance of the quadcopter in carrying out the mission that has been given. The designed control system begins with the creation of a system model equation and is implemented in a real quadcopter simulation. The resulting response in terms of the results of the resulting control signal is stable, meets the trajectory as expected, and can produce a real quadcopter simulation taking off vertically and flying stably. Even though there was an unstable response for about 15 to 20 seconds at the beginning of the resulting response, after that the system showed stability. Tracking the resulting trajectory in accordance with the desired trajectory. Real quadcopter simulation results show that the takeoff phase can be carried out vertically and that the resulting trajectory stability can be stable during takeoff and flight. The height of the quadcopter has reached 100%, namely with a height of 1.5 meters as expected, and the average error value obtained at the x position is $2.93\mathrm{e}^{-07}$, the y position is $2.96\mathrm{e}^{-}07$, and the z position is $1.80\mathrm{e}^{-03}$. The proposed SMC-Kalman filter control system is expected to be implemented in a conventional quadcopter that has been developed.