Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter
In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introdu...
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2014
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my.utm.624962017-06-15T01:17:19Z http://eprints.utm.my/id/eprint/62496/ Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter A. Danapalasingam, Kumeresan Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid TK Electrical engineering. Electronics Nuclear engineering In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by a discontinuous switching function, a simple fuzzy system is used. The asymptotical stability of the system can be guaranteed since the control law is derived based on Lyapunov theorem. Simulation results of the developed controller which applied for a highly nonlinear quadrotor helicopter are presented. From the simulation results, it is shown that the developed control system not only achieves satisfactory control performance, but also eliminates the chattering phenomena in the control effort. International Journals of Engineering and Sciences Publisher 2014 Article PeerReviewed A. Danapalasingam, Kumeresan and Mohd. Basri, Mohd. Ariffanan and Husain, Abdul Rashid (2014) Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter. International Journal of Mechanical and Mechatronics Engineering, 14 (3). pp. 36-44. ISSN 2227-2771 https://pdfs.semanticscholar.org/f9a7/4c837e8c6f6602940983d182cddc34b2de03.pdf |
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TK Electrical engineering. Electronics Nuclear engineering A. Danapalasingam, Kumeresan Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter |
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In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by a discontinuous switching function, a simple fuzzy system is used. The asymptotical stability of the system can be guaranteed since the control law is derived based on Lyapunov theorem. Simulation results of the developed controller which applied for a highly nonlinear quadrotor helicopter are presented. From the simulation results, it is shown that the developed control system not only achieves satisfactory control performance, but also eliminates the chattering phenomena in the control effort. |
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Article |
author |
A. Danapalasingam, Kumeresan Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid |
author_facet |
A. Danapalasingam, Kumeresan Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid |
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A. Danapalasingam, Kumeresan |
title |
Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter |
title_short |
Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter |
title_full |
Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter |
title_fullStr |
Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter |
title_full_unstemmed |
Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter |
title_sort |
robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter |
publisher |
International Journals of Engineering and Sciences Publisher |
publishDate |
2014 |
url |
http://eprints.utm.my/id/eprint/62496/ https://pdfs.semanticscholar.org/f9a7/4c837e8c6f6602940983d182cddc34b2de03.pdf |
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1643655436734300160 |
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13.159267 |