Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Vol 7, No 2: June 2019

Sliding mode control for altitude and attitude stabilization of quadrotor UAV with external disturbance

A Noordin (Universiti Teknologi Malaysia)
M A M Basri (Universiti Teknologi Malaysia)
Z Mohamed (Universiti Teknologi Malaysia)

Article Info

Publish Date
20 Jun 2019

Abstract

This paper addresses the problem of robust altitude and attitude control of ‘×’ mode configuration quadrotor UAV using Lyapunov stability based sliding mode control with saturation function. The dynamic model of the quadrotor was derived by considering nonlinearity factor. MATLAB Simulink was used to simulate the model in two different conditions; without and with the presence of external disturbance. This was done to test the robustness of the control method. Simulation results showed that the sliding mode controller provides good performance and robustness against disturbance.

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Journal Info
Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Website

Abbrev

IJEEI

Publisher

IAES Indonesia Section and Partners

Subject

Computer Science & IT Electrical & Electronics Engineering

Description

Indonesian Journal of Electrical Engineering and Informatics (IJEEI) is a peer reviewed International Journal in English published four issues per year (March, June, September and December). The aim of Indonesian Journal of Electrical Engineering and Informatics (IJEEI) is to publish high-quality ...