چکیده مقاله
The purpose of this paper is to design and implement the Unmanned Aerial Vehicle UAV attitude control with nonlinear coupling dynamic equations, based on the sliding mode control SMC technique The controller is designed by defining the appropriate sliding surfaces and Lyapunov functions and the desired attitude for the UAV is applied by the controller The chattering phenomenon and oscillations of input signals was eliminated by modifying the Sign functions The remarkable property of the designed controller is its high accuracy in spite of its simplicity The validation is done by comparing with a chosen reference, and the validity of the controller performance is proved The SMC works completely accurate with random initial conditions for all of the states and had robustness to the noise Simulation results show that the performance of SMC is high and its accuracy is more than the feedback linearization method and the designed controller, make the UAV attitude exactly like the input commands, and for more accurate operations this controller is more appropriate
کلیدواژهها
نویسندگان
Fatemeh Rouhi Dehkordi
Amirkabir University of Technology, Department of Aerospace Engineering, Iran
شیوه ارجاع
Rouhi Dehkordi, Fatemeh,1398,Attitude Control of UAV Based On Sliding Mode Control Technique,The second international conference on interdisciplinary research in electrical engineering, computers, mechanics and mechatronics in Iran and the Islamic world.,Karaj
ارائهشده در
مجموعه مقالات دومین کنفرانس بین المللی تحقیقات بین رشته ای در مهندسی برق، کامپیوتر، مکانیک و مکاترونیک در ایران و جهان اسلام30 شهریور 1398 · کرج