Fractional Order Sliding Mode Controller for Heading and Heave Control of Quadcopter


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Authors

  • Abdul Haseeb Department of Electrical Engineering, University of Engineering and Technology Taxila, Pakistan
  • Ahsan Ali Department of Electrical Engineering, University of Engineering and Technology Taxila, Pakistan
  • Inam ul Hasan Department of Electrical Engineering, University of Engineering and Technology Taxila, Pakistan

Keywords:

Multi-Rotor Unmanned Aerial Vehicle (MUAV, Unmanned Aerial Vehicle (UAV), Fractional Order Sliding Mode Controller (FO-SMC), Under-Actuated Systems (UAS), Degrees Of Freedom (DOF)

Abstract

– In this paper a fractional order sliding mode control (FO-SMC) based approach is proposed to a six-degree of freedom (6-DOF) quadcopter for the control of heading and heave. We begin by describing the mathematical model of a quadcopter. Afterward, a nonlinear controller is designed to maintain the quadcopter's heading and heave while tracking the desired outputs. FOSMC has been shown to eliminate heading and heave tracking errors, even when external disturbances occur. A simulation test is performed to verify the robustness of the proposed controller.

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Published

2023-04-14

How to Cite

Haseeb, A., Ali, A., & Hasan, I. ul. (2023). Fractional Order Sliding Mode Controller for Heading and Heave Control of Quadcopter. International Conference on Engineering, Natural and Social Sciences, 1, 37–46. Retrieved from https://as-proceeding.com/index.php/icensos/article/view/410

Conference Proceedings Volume

Vol. 1 (2023): Proceeding Book of 2nd International Conference on Engineering, Natural and Social Sciences ICENSOS 2023

Section

Conference Papers