Smooth Second Order Nonsingular Terminal Sliding Mode Control for a 6 DOF Quadrotor UAV

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Terminal Sliding Mode Control for a 6 DOF Quadrotor UAV</title> <meta name="description" content="Smooth Second Order Nonsingular Terminal Sliding Mode Control for a 6 DOF Quadrotor UAV"> <meta name="keywords" content="quadrotor UAV, nonsingular terminal sliding mode, second order sliding mode t, electronics, control, signal processing"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" 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</div> <div class="card publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">Smooth Second Order Nonsingular Terminal Sliding Mode Control for a 6 DOF Quadrotor UAV</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=V.%20Tabrizi">V. Tabrizi</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Vali"> A. Vali</a>, <a href="https://publications.waset.org/abstracts/search?q=R.%20GHasemi"> R. GHasemi</a>, <a href="https://publications.waset.org/abstracts/search?q=V.%20Behnamgol"> V. Behnamgol</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this article, a nonlinear model of an under actuated six degrees of freedom (6 DOF) quadrotor UAV is derived on the basis of the Newton-Euler formula. The derivation comprises determining equations of the motion of the quadrotor in three dimensions and approximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics. The robust nonlinear control strategy includes a smooth second order non-singular terminal sliding mode control which is applied to stabilizing this model. The control method is on the basis of super twisting algorithm for removing the chattering and producing smooth control signal. Also, nonsingular terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Simulation results show that the proposed algorithm is robust against uncertainty or disturbance and guarantees a fast and precise control signal. <iframe src="https://publications.waset.org/abstracts/13906.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=quadrotor%20UAV" title="quadrotor UAV">quadrotor UAV</a>, <a href="https://publications.waset.org/abstracts/search?q=nonsingular%20terminal%20sliding%20mode" title=" nonsingular terminal sliding mode"> nonsingular terminal sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=second%20order%20sliding%20mode%20t" title=" second order sliding mode t"> second order sliding mode t</a>, <a href="https://publications.waset.org/abstracts/search?q=electronics" title=" electronics"> electronics</a>, <a href="https://publications.waset.org/abstracts/search?q=control" title=" control"> control</a>, <a href="https://publications.waset.org/abstracts/search?q=signal%20processing" title=" signal processing"> signal processing</a> </p> <a href="https://publications.waset.org/abstracts/13906/smooth-second-order-nonsingular-terminal-sliding-mode-control-for-a-6-dof-quadrotor-uav" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/13906.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">441</span> </span> </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" 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Smooth Second Order Nonsingular Terminal Sliding Mode Control for a 6 DOF Quadrotor UAV