Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties

Seyed Jamal Haddadi; Payam Zarafshan; Maysam Shahsavari

doi:10.1109/ICRoM.2017.8466210

Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties

Seyed Jamal Haddadi
, Payam Zarafshan
, Maysam Shahsavari

Universidade Federal de Santa Catarina
Department of Agro-Technology
University of Tehran
Islamic Azad University

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

1 Citation (Scopus)

Abstract

this paper addresses the development of high order Sliding Mode Control (SMC) of a Quadrotor. This development has been done using Back-Stepping Sliding Mode Control (BSMC). By considering external disturbances and dynamic uncertainties in parameters, this approach guaranties the convergence of system states to their desired values. Based on Lyapunov stability theory, main achievement of this investigation is demonstrated for close loop dynamic stabilization of Quadrotor against sudden external disturbance in states and control inputs and also overcoming to parameters uncertainties. Performance impact of this strategy is illustrated on attitude and altitude control of a Quadrotor.

Original language	English
Title of host publication	5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	328-333
Number of pages	6
ISBN (Print)	9781538657034
DOIs	https://doi.org/10.1109/ICRoM.2017.8466210
Publication status	Published - 2018
Externally published	Yes
Event	5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017 - Tehran, Iran, Islamic Republic of Duration: 25 Oct 2017 → 27 Oct 2017

Publication series

Name	5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017

Conference

Conference	5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	25/10/17 → 27/10/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Back-Stepping Sliding Mode Control
Disturbance
Lyapunov
Quadrotor
Uncertainties

Access to Document

10.1109/ICRoM.2017.8466210

Cite this

Haddadi, S. J., Zarafshan, P., & Shahsavari, M. (2018). Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties. In 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017 (pp. 328-333). Article 8466210 (5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2017.8466210

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title = "Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties",

abstract = "this paper addresses the development of high order Sliding Mode Control (SMC) of a Quadrotor. This development has been done using Back-Stepping Sliding Mode Control (BSMC). By considering external disturbances and dynamic uncertainties in parameters, this approach guaranties the convergence of system states to their desired values. Based on Lyapunov stability theory, main achievement of this investigation is demonstrated for close loop dynamic stabilization of Quadrotor against sudden external disturbance in states and control inputs and also overcoming to parameters uncertainties. Performance impact of this strategy is illustrated on attitude and altitude control of a Quadrotor.",

keywords = "Back-Stepping Sliding Mode Control, Disturbance, Lyapunov, Quadrotor, Uncertainties",

author = "Haddadi, \{Seyed Jamal\} and Payam Zarafshan and Maysam Shahsavari",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017 ; Conference date: 25-10-2017 Through 27-10-2017",

year = "2018",

doi = "10.1109/ICRoM.2017.8466210",

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series = "5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017",

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Haddadi, SJ, Zarafshan, P & Shahsavari, M 2018, Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties. in 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017., 8466210, 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, Institute of Electrical and Electronics Engineers Inc., pp. 328-333, 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, Tehran, Iran, Islamic Republic of, 25/10/17. https://doi.org/10.1109/ICRoM.2017.8466210

Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties. / Haddadi, Seyed Jamal; Zarafshan, Payam; Shahsavari, Maysam.
5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 328-333 8466210 (5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AU - Zarafshan, Payam

AU - Shahsavari, Maysam

PY - 2018

Y1 - 2018

N2 - this paper addresses the development of high order Sliding Mode Control (SMC) of a Quadrotor. This development has been done using Back-Stepping Sliding Mode Control (BSMC). By considering external disturbances and dynamic uncertainties in parameters, this approach guaranties the convergence of system states to their desired values. Based on Lyapunov stability theory, main achievement of this investigation is demonstrated for close loop dynamic stabilization of Quadrotor against sudden external disturbance in states and control inputs and also overcoming to parameters uncertainties. Performance impact of this strategy is illustrated on attitude and altitude control of a Quadrotor.

AB - this paper addresses the development of high order Sliding Mode Control (SMC) of a Quadrotor. This development has been done using Back-Stepping Sliding Mode Control (BSMC). By considering external disturbances and dynamic uncertainties in parameters, this approach guaranties the convergence of system states to their desired values. Based on Lyapunov stability theory, main achievement of this investigation is demonstrated for close loop dynamic stabilization of Quadrotor against sudden external disturbance in states and control inputs and also overcoming to parameters uncertainties. Performance impact of this strategy is illustrated on attitude and altitude control of a Quadrotor.

KW - Back-Stepping Sliding Mode Control

KW - Disturbance

KW - Lyapunov

KW - Quadrotor

KW - Uncertainties

UR - https://www.scopus.com/pages/publications/85054514952

U2 - 10.1109/ICRoM.2017.8466210

DO - 10.1109/ICRoM.2017.8466210

M3 - Conference Paper

SN - 9781538657034

T3 - 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017

SP - 328

EP - 333

BT - 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017

Y2 - 25 October 2017 through 27 October 2017

ER -

Haddadi SJ, Zarafshan P, Shahsavari M. Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties. In 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017. Institute of Electrical and Electronics Engineers Inc. 2018. p. 328-333. 8466210. (5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017). doi: 10.1109/ICRoM.2017.8466210

Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties

Abstract

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Bibliographical note

Keywords

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