Eltayeb, Ahmed and Mohd Fua’ad, Rahmat and Mohd Ariffanan, Mohd Basri and Mansour, Mohammed A. M. (2020) Adaptive sliding mode control design for the attitude of the quadrotor unmanned aerial vehicle (UAV). In: IOP Conference Series: Materials Science and Engineering; 2019 Sustainable and Integrated Engineering International Conference, SIE 2019 , 8 - 9 December 2019 , The Everly Putrajaya, Putrajaya. pp. 1-8., 884 (1). ISSN 1757-8981 (Print), 1757-899X (Online)
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Abstract
In this article, the adaptive sliding mode controller (ASMC) is developed for the quadrotor attitude subsystem. The proposed ASMC controller aims to reduce/decrease the unwanted chattering phenomena associated with the conventional sliding mode controller, and meanwhile achieving a robust trajectory tracking for the attitude. The stability of the proposed (ASMC) controller has been verified based on Lyapunov stability theorem. The quadrotor UAV model and the performance of the proposed controller have been simulated and tested by simulation using MATLAB/SIMULINK environment. The simulation result is proof that the chattering has been reduced significantly.
| Item Type: | Conference or Workshop Item (Lecture) |
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| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | Adaptive sliding mode controller (ASMC); Conventional sliding mode controller; Quadrotor UAV model |
| Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TS Manufactures |
| Faculty/Division: | Institute of Postgraduate Studies Faculty of Mechanical & Manufacturing Engineering |
| Depositing User: | Mrs Norsaini Abdul Samat |
| Date Deposited: | 26 Jul 2021 13:58 |
| Last Modified: | 26 Jul 2021 13:58 |
| URI: | http://umpir.ump.edu.my/id/eprint/30334 |
| Download Statistic: | View Download Statistics |
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