Journal of Advanced Information Technology and Convergence (한국정보기술학회 영문논문지)

Korean Institute of Information Technology (한국정보기술학회)
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Adaptive Sliding Mode Control based on Feedback Linearization for Quadrotor with Ground Effect

  • Kim, Young-Min (Dept. of Intelligent System Engineering, Dong-eui University) ;
  • Baek, Woon-Bo (Dept. of Robot-Automation Engineering, Dong-eui University)
  • Received : 2018.12.10
  • Accepted : 2018.12.26
  • Published : 2018.12.31
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Abstract

This paper introduces feedback linearization (FL) based adaptive sliding mode control (ASMC) effective against ground effects of the quadrotor UAV. The proposed control has the capability of estimation and effective rejection of those effects by adaptive mechanism, which resulting stable attitude and positioning of the quadrotor. As output variables of quadrotor, x-y-z position and yaw angle are chosen. Dynamic extension of the quadrotor dynamics is obtained for terms of roll and pitch control input to be appeared explicitly in x-y-z dynamics, and then linear feedback control including a ground effect is designed. A sliding mode control (SMC) is designed with a class of FL including higher derivative terms, sliding surfaces for which is designed as a class of integral type of resulting closed loop dynamics. The asymptotic stability of the overall system was assured, based on Lyapunov stability methods. It was evaluated through some simulation that attitude control capability is stable under excessive estimation error for unknown ground effect and initial attitude of roll, pitch, and yaw angle of $30^{\circ}$ in all. Effectiveness of the proposed method was shown for quadrotor system with ground effects.

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