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Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle

Tecnologico de Monterrey, Escuela de Ingenieria y Ciencias, Monterrey, NL 64849, Mexico
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Electronics 2019, 8(7), 793; https://doi.org/10.3390/electronics8070793
Received: 14 June 2019 / Revised: 5 July 2019 / Accepted: 8 July 2019 / Published: 16 July 2019
(This article belongs to the Special Issue Motion Planning and Control for Robotics)
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Abstract

The design of an embedded flight controller for a quadrotor micro air vehicle, which is subject to uncertainties and perturbations, is addressed. In order to obtain robustness against bounded uncertainties and disturbances, an adaptive sliding mode controller is proposed. The control adaptive gains allow using only necessary control to satisfy the task, reducing the chattering effect and at the same time reject external perturbations. Furthermore, a stability analysis of the closed-loop system is given. Finally, simulations and experimental results carried out on a commercial micro air vehicle demonstrate the feasibility and advantages of the proposed flight controller. View Full-Text
Keywords: embedded control; adaptive sliding mode control; quadrotor MAV embedded control; adaptive sliding mode control; quadrotor MAV
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MDPI and ACS Style

Castañeda, H.; Gordillo, J. Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle. Electronics 2019, 8, 793.

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