Optimised sliding mode control of a hexacopter: Simulation and experiments

• Main Authors: Sun, Chaoran, Agha, Stephen A., Mohamed, Zaharuddin, Shaheed, M. Hasan
• Format: Article
• Language: English
• Published: MDPI 2022
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/103559/1/ZaharuddinBMohamed2022_OptimisedSlidingModeControlofaHexacopter.pdf; http://eprints.utm.my/103559/; http://dx.doi.org/10.3390/electronics11162519

Hexacopters are a kind of unmanned aerial vehicle (UAV) with six actuators and six degrees-of-freedom motions. The control of a hexacopter drone is a critical challenge. This paper presents a nonlinear dynamical model for a hexacopter and complete control approaches based on sliding mode control the...