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JRM Vol.30 No.3 pp. 397-405
doi: 10.20965/jrm.2018.p0397
(2018)

Paper:

Controller Performance for Quad-Rotor Vehicles Based on Sliding Mode Control

Takayoshi Oba, Mai Bando, and Shinji Hokamoto

Kyushu University
744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan

Received:
Novermber 20, 2017
Accepted:
April 12, 2018
Published:
June 20, 2018
Keywords:
sliding mode control, robust control, under-actuated system, quad-rotors
Abstract
Controller Performance for Quad-Rotor Vehicles Based on Sliding Mode Control

Controller with a nested loop and SMC

This study applies a sliding mode control (SMC) strategy for a robust controller of a quad-rotor vehicle. First, a controller combined with a nested control loop and an SMC is introduced, because a quad-rotor vehicle has only four control inputs although the vehicle has six degrees of freedom. The control performance for the feedback gains in the nested loop is investigated in numerical simulations. Subsequently, the effects of practical system limitations (control cycle and rotor dynamics) on the control performance are examined. Finally, the robust performance of the SMC strategy on a quad-rotor vehicle is discussed.

Cite this article as:
T. Oba, M. Bando, and S. Hokamoto, “Controller Performance for Quad-Rotor Vehicles Based on Sliding Mode Control,” J. Robot. Mechatron., Vol.30, No.3, pp. 397-405, 2018.
Data files:
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Last updated on Nov. 16, 2018