Control de modo deslizante aplicado al seguimiento de trayectorias en un quadrotor (Trajectory tracking of a quadrotor using sliding mode control)

Manuel J. Reinoso (manuelrja@hotmail.com)2, Luis I. Minchala (ismael.minchala@ucuenca.edu.ec)2, Paul Ortiz (jortizg@ups.edu.ec)1, Darwin F. Astudillo (fabian.astudillos@ucuenca.edu.ec)2, Diego Verdugo (deverdugoo@ucacue.edu.ec)3


1Universidad Politecnica Salesiana
2Universidad de Cuenca
3Universidad Catolica de Cuenca

This paper appears in: Revista IEEE América Latina

Publication Date: May 2016
Volume: 14,   Issue: 5 
ISSN: 1548-0992


Abstract:
This paper presents the design of a sliding mode control (SMC) for trajectory tracking of an unmanned aerial vehicle (UAV), quadrotor. A simplified model of the quadrotor is used for the controller design. The robustness of the controller is verified through simulations, and also through data analysis from the experiments in the 3DR Arducopter platform. The SMC algorithms are implemented in a microcontroller that communicates with a human machine interface (HMI), which monitors the behavior and stability of the state variables. The results show effectiveness of the control technique for maintaining stability in the quadrotor under different operating scenarios.

Index Terms:
nonlinear system, sliding mode control, unmanned aerial vehicle, trajectory tracking   


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