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Design of a chattering-free sliding mode control system for robust position control of a quadrotor

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

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Design of a chattering-free sliding mode control system for robust position control of a quadrotor. / Can, Aydin; Efstathiades, Harry; Montazeri, Allahyar.
Proceedings of the 2020 International Conference of Nonlinearity, Information and Robotics (NIR). IEEE, 2020.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Can, A, Efstathiades, H & Montazeri, A 2020, Design of a chattering-free sliding mode control system for robust position control of a quadrotor. in Proceedings of the 2020 International Conference of Nonlinearity, Information and Robotics (NIR). IEEE, Nonlinearity, Information, and Robotics, Innopolis, Russian Federation, 3/09/20. https://doi.org/10.1109/NIR50484.2020.9290206

APA

Can, A., Efstathiades, H., & Montazeri, A. (2020). Design of a chattering-free sliding mode control system for robust position control of a quadrotor. In Proceedings of the 2020 International Conference of Nonlinearity, Information and Robotics (NIR) IEEE. https://doi.org/10.1109/NIR50484.2020.9290206

Vancouver

Can A, Efstathiades H, Montazeri A. Design of a chattering-free sliding mode control system for robust position control of a quadrotor. In Proceedings of the 2020 International Conference of Nonlinearity, Information and Robotics (NIR). IEEE. 2020 doi: 10.1109/NIR50484.2020.9290206

Author

Can, Aydin ; Efstathiades, Harry ; Montazeri, Allahyar. / Design of a chattering-free sliding mode control system for robust position control of a quadrotor. Proceedings of the 2020 International Conference of Nonlinearity, Information and Robotics (NIR). IEEE, 2020.

Bibtex

@inproceedings{e6a7a99559c94ad4acbd54c2c42b4d0f,
title = "Design of a chattering-free sliding mode control system for robust position control of a quadrotor",
abstract = "In this paper, the major components of an unmanned aerial vehicle (UAV), including the flight control system, mechanical design, as well as the embedded electronic systems are reported. The ultimate aim is to use the developed platform in nuclear environments for decommissioning applications.Due to the hazards and uncertainties present in these nuclear environments, a more basic control system may be unable to reliably control the UAV. Therefore, the main focus of this study is on the development of a robust multi-channel control system, based on sliding mode control (SMC), for nested position andattitude control of a quadrotor UAV in 3D space. The robustness of the control systems is evaluated under parameter disturbance in the form of payload uncertainties. The final developed platform shall be capable of autonomous Simultaneous Localisation and Mapping (SLAM), however, this will be the subject of a separate study.",
author = "Aydin Can and Harry Efstathiades and Allahyar Montazeri",
year = "2020",
month = dec,
day = "28",
doi = "10.1109/NIR50484.2020.9290206",
language = "English",
booktitle = "Proceedings of the 2020 International Conference of Nonlinearity, Information and Robotics (NIR)",
publisher = "IEEE",
note = "Nonlinearity, Information, and Robotics ; Conference date: 03-09-2020 Through 06-09-2020",
url = "http://nir.innopolis.university/",

}

RIS

TY - GEN

T1 - Design of a chattering-free sliding mode control system for robust position control of a quadrotor

AU - Can, Aydin

AU - Efstathiades, Harry

AU - Montazeri, Allahyar

PY - 2020/12/28

Y1 - 2020/12/28

N2 - In this paper, the major components of an unmanned aerial vehicle (UAV), including the flight control system, mechanical design, as well as the embedded electronic systems are reported. The ultimate aim is to use the developed platform in nuclear environments for decommissioning applications.Due to the hazards and uncertainties present in these nuclear environments, a more basic control system may be unable to reliably control the UAV. Therefore, the main focus of this study is on the development of a robust multi-channel control system, based on sliding mode control (SMC), for nested position andattitude control of a quadrotor UAV in 3D space. The robustness of the control systems is evaluated under parameter disturbance in the form of payload uncertainties. The final developed platform shall be capable of autonomous Simultaneous Localisation and Mapping (SLAM), however, this will be the subject of a separate study.

AB - In this paper, the major components of an unmanned aerial vehicle (UAV), including the flight control system, mechanical design, as well as the embedded electronic systems are reported. The ultimate aim is to use the developed platform in nuclear environments for decommissioning applications.Due to the hazards and uncertainties present in these nuclear environments, a more basic control system may be unable to reliably control the UAV. Therefore, the main focus of this study is on the development of a robust multi-channel control system, based on sliding mode control (SMC), for nested position andattitude control of a quadrotor UAV in 3D space. The robustness of the control systems is evaluated under parameter disturbance in the form of payload uncertainties. The final developed platform shall be capable of autonomous Simultaneous Localisation and Mapping (SLAM), however, this will be the subject of a separate study.

U2 - 10.1109/NIR50484.2020.9290206

DO - 10.1109/NIR50484.2020.9290206

M3 - Conference contribution/Paper

BT - Proceedings of the 2020 International Conference of Nonlinearity, Information and Robotics (NIR)

PB - IEEE

T2 - Nonlinearity, Information, and Robotics

Y2 - 3 September 2020 through 6 September 2020

ER -