TY - GEN
T1 - Quadrotor stabilization and tracking using sliding mode observer and control
AU - Lee, Hyukwoo
AU - Lee, Kyunghyun
AU - You, Kwanho
N1 - Publisher Copyright:
© 2019 Association for Computing Machinery.
PY - 2019/7/27
Y1 - 2019/7/27
N2 - We consider the stabilization and tracking of a quadrotor system. Recently, as the utilization for unmmaned aerial vehicle (UAV) has icreased, various approaches have been proposed for a quadrotor control system. Quadrotor, a type of UAV, is a sensitive system that is highly influenced by external environmental factors such as wind and humidity. For improving the performance of a quadrotor system, we propose a sliding mode observer (SMO) and sliding mode control (SMC) based quadrotor stabilization and tracking system. To minimize the measurement error of a quadrotor system, we apply SMO to the augmented model. Also, for robust control of quadrotor, we use SMC, a robust control methodology for the model uncertainty and disturbance, with Lyapunov function. In this paper our proposed method is applied to quadrotor stabilization and tracking control. We show the proposed control performance with some simulation results.
AB - We consider the stabilization and tracking of a quadrotor system. Recently, as the utilization for unmmaned aerial vehicle (UAV) has icreased, various approaches have been proposed for a quadrotor control system. Quadrotor, a type of UAV, is a sensitive system that is highly influenced by external environmental factors such as wind and humidity. For improving the performance of a quadrotor system, we propose a sliding mode observer (SMO) and sliding mode control (SMC) based quadrotor stabilization and tracking system. To minimize the measurement error of a quadrotor system, we apply SMO to the augmented model. Also, for robust control of quadrotor, we use SMC, a robust control methodology for the model uncertainty and disturbance, with Lyapunov function. In this paper our proposed method is applied to quadrotor stabilization and tracking control. We show the proposed control performance with some simulation results.
KW - Quadrotor
KW - Sliding mode control
KW - Sliding mode observer
KW - Stabilization
KW - Tracking control
UR - https://www.scopus.com/pages/publications/85073203808
U2 - 10.1145/3348445.3348476
DO - 10.1145/3348445.3348476
M3 - Conference contribution
AN - SCOPUS:85073203808
T3 - ACM International Conference Proceeding Series
SP - 28
EP - 31
BT - Proceedings of the 7th International Conference on Computer and Communications Management, ICCCM 2019
PB - Association for Computing Machinery
T2 - 7th International Conference on Computer and Communications Management, ICCCM 2019
Y2 - 27 July 2019 through 29 July 2019
ER -