Sliding Mode Control-Based Modeling and Simulation of a Quadcopter
Rahmi Elagib *
Department of Electrical and Electronics Engineering, Ankara Yildirim Beyazıt University, Ankara, Turkey.
Ahmet Karaarslan
Department of Electrical and Electronics Engineering, Ankara Yildirim Beyazıt University, Ankara, Turkey.
*Author to whom correspondence should be addressed.
Abstract
This article discusses the use of Sliding Mode Control (SMC) for the control of a four-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). The Newton-Euler method is utilized to build the quadcopter's dynamic model. The model is divided into under-actuated and fully actuated subsystems. Even though controlling UAVs is difficult owing to their extremely nonlinear characteristics, previous experimental trials and simulation studies have proved that the sliding mode controller yields satisfactory performance and disturbance tolerance. The contribution of this study is the presenting of an accurate quadcopter modeling and simulation employing a sliding mode controller and a Newton-Euler formula to reduce chattering. In this study, SMC was used to control the altitude and attitude of the quadcopter. MATLAB/Simulink was used to show the quadcopter dynamic model and controller model, and the result illustrating the controller's performance in different conditions was acquired.
Keywords: Quadcopter, Unmanned air vehicle, VTOL, MATLAB/Simulink, SMC