2012 · 49 citations · 7 references
EngineeringAerospace EngineeringMechanical EngineeringAerial RoboticsFlight DynamicsRoboticsAircraft ControlAircraft StabilityManeuveringManeuvering FlightQuadrotor DynamicsRotorcraft Flight MechanicsHover DynamicsHover PerformanceHovering FlightSliding Mode ControlUnderactuated Aerial Vehicle DynamicsUnmanned Aerial Vehicle Control
Quadrotors attract attention in control research for their complex dynamics and military advantages, and their basic model involves four propeller thrust inputs. The study aims to achieve stable hovering of a quadrotor, including altitude variations driven by human thrust input, by developing PD and sliding mode control methods. A dynamic model of a four‑rotor UAV is presented and used to design a stable, accurate controller employing PD and sliding mode techniques.
In this paper, we present a model of a four rotor unmanned air vehicle (UAV) known as quadrotor aircraft. Quadrotors have generated considerable interest in both the control community due to their complex dynamics and military because of their advantages over regular air vehicles. The model is used to design a stable and accurate controller. Main aim of this paper is to achieve stable hover, with addition of variations in altitude based on human input for thrust. This paper explains the developments of a PD control method and sliding mode control for a fully-actuated subsystem of a quadrotor to obtain stability in flying the Quadrotor to a stable hovering position. The model has four input forces which are basically the thrust provided by each propeller.
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