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Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization

This paper addresses the problem of robust altitude (z), and attitude (?, ?, ?) control of ‘ ×’ mode configuration quadrotor UAV using a sliding mode control (SMC) with tanh function. The dynamic quadrotor model is derived by considering the nonlinearity factor. The dynamic model is simulated in MAT...

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Main Authors:	Noordin, Aminurrashid, Mohd. Basri, Mohd. Ariffanan, Mohamed, Zaharuddin
Format:	Conference or Workshop Item
Published:	2021
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/96893/ http://dx.doi.org/10.1007/978-981-16-0866-7_41
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id	my.utm.96893
record_format	eprints
spelling	my.utm.968932022-09-04T04:18:44Z http://eprints.utm.my/id/eprint/96893/ Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin TK Electrical engineering. Electronics Nuclear engineering This paper addresses the problem of robust altitude (z), and attitude (?, ?, ?) control of ‘ ×’ mode configuration quadrotor UAV using a sliding mode control (SMC) with tanh function. The dynamic quadrotor model is derived by considering the nonlinearity factor. The dynamic model is simulated in MATLAB Simulink without and with the presence of external disturbance to test the robustness of the control method. A comparison is made with three others sliding mode control laws, such as reaching law, exponential reaching law and saturation function. The sliding condition is verified and guaranteed by the Lyapunov stability function. The result confirms that the sliding mode control using the tanh function shows tremendous performance and robustness against disturbance without being affected by the chattering phenomenon. This study deals with the nonlinear quadrotor control for attitude and altitude control using robust sliding mode control, where the tanh function eliminates the chattering phenomenon. 2021 Conference or Workshop Item PeerReviewed Noordin, Aminurrashid and Mohd. Basri, Mohd. Ariffanan and Mohamed, Zaharuddin (2021) Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization. In: 3rd Symposium on Intelligent Manufacturing and Mechatronics, SympoSIMM 2020, 10 August 2020, Perlis, Malaysia. http://dx.doi.org/10.1007/978-981-16-0866-7_41
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization
description	This paper addresses the problem of robust altitude (z), and attitude (?, ?, ?) control of ‘ ×’ mode configuration quadrotor UAV using a sliding mode control (SMC) with tanh function. The dynamic quadrotor model is derived by considering the nonlinearity factor. The dynamic model is simulated in MATLAB Simulink without and with the presence of external disturbance to test the robustness of the control method. A comparison is made with three others sliding mode control laws, such as reaching law, exponential reaching law and saturation function. The sliding condition is verified and guaranteed by the Lyapunov stability function. The result confirms that the sliding mode control using the tanh function shows tremendous performance and robustness against disturbance without being affected by the chattering phenomenon. This study deals with the nonlinear quadrotor control for attitude and altitude control using robust sliding mode control, where the tanh function eliminates the chattering phenomenon.
format	Conference or Workshop Item
author	Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin
author_facet	Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin
author_sort	Noordin, Aminurrashid
title	Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization
title_short	Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization
title_full	Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization
title_fullStr	Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization
title_full_unstemmed	Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization
title_sort	sliding mode control with tanh function for quadrotor uav altitude and attitude stabilization
publishDate	2021
url	http://eprints.utm.my/id/eprint/96893/ http://dx.doi.org/10.1007/978-981-16-0866-7_41
_version_	1743107042646687744
score	13.251813

Sliding mode control with tanh function for quadrotor UAV altitude and attitude stabilization

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