Robust Control of a Quadrotor

Subject Areas : journal of Artificial Intelligence in Electrical Engineering

Kamal Torabi ¹ , Alireza Ghafari Kashani ²

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Received: 2016-02-22 Accepted : 2016-02-22 Published : 2016-12-01

Keywords: Quadrotor helicopter, Robust Control, SMC, Trajectory tracking,

Abstract :

In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controller. The position controller is also a design using SMC and the attitude controller is faster than position controller.

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