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Novel control techniques for a quadrotor based on the Sliding Mode Controller

Sudakar, Madhavan
http://orcid.org/0000-0003-1396-6042
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1613746605628363

Abstract Details

2020, MS, University of Cincinnati, Engineering and Applied Science: Mechanical Engineering.
The thesis focusses on formulating novel control algorithm architectures based off the sliding mode controller design. Three control designs are presented in this thesis. The three control architectures are tested on a quadrotor and their behaviour is observed when waypoint navigation is attempted. The first control architecture is to develop a control design that is effective against external disturbances. The theoretical design and working of the controller is first presented. Its ability to stabilize systems in the presence of disturbance is also presented theoretically. Consequently, to test its effectiveness, its reaction to wind and gust disturbance is observed when implemented on a quadrotor. The second and third control architecture deals with a certain type of controller known as the PD (Proportional Derivative) controller. The PD controller helps us control the dynamics of a system in a simple manner. However, in order to do so in a successful manner, there are certain parameters in its structure that need to be decided manually. This can be a difficult task for larger dynamical systems. The second and third control architectures present two methods in which these gains automatically take ideal values which help channel system dynamics. This rules out the need for determining them manually. A theoretical proof for this method is presented. Simulations to understand the working of the idea are also shown. Conclusions for the 3 control architectures are drawn out. Future work is also presented.
Manish Kumar, Ph.D. (Committee Chair)
Rajnikant Sharma, Ph.D. (Committee Member)
David Thompson, Ph.D. (Committee Member)
75 p.
Mechanical Engineering
Sliding mode control; Adaptive; Wind disturbance; Autotuner; PD controller; Quadrotor

Recommended Citations

Citations

  • Sudakar, M. (2020). Novel control techniques for a quadrotor based on the Sliding Mode Controller [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1613746605628363

    APA Style (7th edition)

  • Sudakar, Madhavan. Novel control techniques for a quadrotor based on the Sliding Mode Controller. 2020. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1613746605628363.

    MLA Style (8th edition)

  • Sudakar, Madhavan. "Novel control techniques for a quadrotor based on the Sliding Mode Controller." Master's thesis, University of Cincinnati, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1613746605628363

    Chicago Manual of Style (17th edition)

ucin1613746605628363
218
© 2020, some rights reserved.Creative Commons License Novel control techniques for a quadrotor based on the Sliding Mode Controller by Madhavan Sudakar is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by University of Cincinnati and OhioLINK.