Journal of Science and Applicative Technology
Vol 2 No 1 (2019): ICoSITeR Special Edition

Robust Control of a Quadcopter Flying via Sliding Mode

Rudi Uswarman (Electrical Engineering Department, Institut Teknologi Sumatera, Lampung Selatan, Lampung)
Swadexi Istiqphara (Electrical Engineering Department, Institut Teknologi Sumatera, Lampung Selatan, Lampung)
Rajif Agung Yunmar (Electrical Engineering Department, Institut Teknologi Sumatera, Lampung Selatan, Lampung)
Arkham Zahri Rakhman (Electrical Engineering Department, Institut Teknologi Sumatera, Lampung Selatan, Lampung)

Article Info

Publish Date
11 May 2019

Abstract

Sliding Mode Control (SMC) used to control the stability of a quadcopter from disturbances and uncertainties. This technique has two main advantages: the nonlinear dynamics and modelling errors of the quadcopter can be eliminated by switching function and the uncertainty problem can be overcome with a closed-loop response. The controller of the sliding mode technique consists of two components. The first is design equivalent control law to maintain the system state trajectory on the sliding surface. The second is design switching control law to reach the sliding surface. The Lyapunov theorem is used to ensure the stability of the system. Simulation results verify the robustness of the controller.

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Journal Info
Journal of Science and Applicative Technology
Website

Abbrev

jsat

Publisher

Institut Teknologi Sumatera

Subject

Civil Engineering, Building, Construction & Architecture Earth & Planetary Sciences Engineering Materials Science & Nanotechnology Mechanical Engineering

Description

Journal of Science and Applicative Technology is soon indexed by google scholar, SINTA (Science and Technology Index), portal garuda, DOAJ (Directory of Open Access Journals). This journal has been registered at PDII LIPI (ISSN: 2581-0545). This journal is semiannual journal. It will be published in ...