A NEW SLIDING MODE CONTROLLER IMPLEMENTATION ON AN AUTONOMOUS QUADCOPTER SYSTEM

Q4 Computer Science

International Journal of Automation and Smart Technology Pub Date : 2019-06-01 DOI:10.5875/AUSMT.V9I2.1876

Jayson Piquero, Vincent Kyle Delica, Alfred Loue Orquia, Eloise Margarett Reynaldo, J. Ilao, M. A. Roque, E. Sybingco, A. Chua, J. Katupitya, H. Jayakody

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引用次数: 7

Abstract

This paper introduces Sliding Mode controller, a non-linear controller, for the implementation of an autonomous quadrotor platform, a non-linear system. The Sliding Mode controller was applied to a PixHawk Flight Controller using the Ardupilot firmware. The simulation testing using SITL shows the effectiveness of the controller before flight. The results imply the improvement when using Sliding Mode Control in comparison to PID controller. The results show that there is a reduction in attitude error when using Sliding Mode Control in comparison with PID control in all simulation and actual hardware results. The robustness of Sliding Mode Control was also tested by adding parameter uncertainties and disturbances to the system. In this study, the root-mean-square error obtained in the Sliding Mode Control is 1.546580%, 0.634243%, and 13.466256% for the roll, pitch, and yaw movements respectively, and the root-mean-square error obtained in the PID control is 2.588324%, 4.553838%, and 18.860183% for the roll, pitch, and yaw movements respectively. This shows that the quadrotor using Sliding Mode Control is less prone to attitude errors.

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一种新型滑模控制器在自主四轴飞行器系统上的实现

本文介绍了一种非线性控制器——滑模控制器，用于实现自主四旋翼平台这一非线性系统。滑模控制器应用于使用Ardupilot固件的PixHawk飞行控制器。通过仿真测试，验证了该控制器在飞行前的有效性。结果表明，与PID控制相比，采用滑模控制可以改善系统的性能。结果表明，与PID控制相比，采用滑模控制能有效地减小姿态误差。通过在系统中加入参数不确定性和干扰，验证了滑模控制的鲁棒性。在本研究中，滑模控制的横摇、俯仰和偏航运动的均方根误差分别为1.546580%、0.634243%和13.466256%，PID控制的横摇、俯仰和偏航运动的均方根误差分别为2.588324%、4.553838%和18.860183%。这表明，四旋翼使用滑模控制是不容易出现姿态误差。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Automation and Smart Technology Engineering-Electrical and Electronic Engineering

CiteScore

0.70

自引率

0.00%

发文量

审稿时长

16 weeks

期刊介绍： International Journal of Automation and Smart Technology (AUSMT) is a peer-reviewed, open-access journal devoted to publishing research papers in the fields of automation and smart technology. Currently, the journal is abstracted in Scopus, INSPEC and DOAJ (Directory of Open Access Journals). The research areas of the journal include but are not limited to the fields of mechatronics, automation, ambient Intelligence, sensor networks, human-computer interfaces, and robotics. These technologies should be developed with the major purpose to increase the quality of life as well as to work towards environmental, economic and social sustainability for future generations. AUSMT endeavors to provide a worldwide forum for the dynamic exchange of ideas and findings from research of different disciplines from around the world. Also, AUSMT actively seeks to encourage interaction and cooperation between academia and industry along the fields of automation and smart technology. For the aforementioned purposes, AUSMT maps out 5 areas of interests. Each of them represents a pillar for better future life: - Intelligent Automation Technology. - Ambient Intelligence, Context Awareness, and Sensor Networks. - Human-Computer Interface. - Optomechatronic Modules and Systems. - Robotics, Intelligent Devices and Systems.