Sliding Mode Control Strategy for a 6 DOF Quadrotor Helicopter

In this work, we gives the full dynamical model of a commercially available quadrotor helicopter and presents its behaviour control at low altitudes through sliding mode control. The control law is very well known for its robustness against disturbances and invariance during the sliding regime. The plant on the other hand, is nonlinear one with state variables are tightly coupled the control objective is the position tracking. Simulations results have shown that the algorithm successfully drives the system towards the desired trajectory. Keywords— Sliding mode Control, quadrotor, Dynamic modelling 1INTRODUCTION Autonomous Unmanned Air vehicles (UAV) are increasingly popular platforms, due to their use in military applications, trafc surveillance, environment exploration, structure inspection, mapping and aerial cinematography, in which risks to pilots are often high. Rotorcraft has an evident advantage over fixed-wing aircraft for various applications because of their vertical landing/take-off capability and payload. Among the rotorcraft, quadrotor helicopters can usually afford a larger payload than conventional helicopters due to four rotors. Moreover, small quadrotor helicopters possess a great maneuverability and are potentially simpler to manufacture. For these advantages, quadrotor helicopters have received much interest in UAV research [1,2]. The quadrotor we consider is an underactuated system with six outputs and four inputs, and the states are highly coupled, several recent works were completed for the design and control in pilotless aerial vehicles domain such that quadrotor [1,3,4]. Also, related models for controlling the vertical take-off and landing (VTOL) aircraft are studied by Hauser et al. [5]. A model for the dynamic and configuration stabilization of quasi-stationary flight conditions of a four rotors VTOL, based on Newton formalism, was studied by Hamel et al. [6] where the dynamic motor effects are incorporated and a bound of perturbing errors was obtained for the coupled system. Castillo et al. [7] performed autonomous take-off, hovering and landing control of a four rotors by synthesizing a controller using the Lagrangian model based on the Lyapunov analysis. In [8], authors take into account the gyroscopic effects and show that the classical model independent PD controller can stabilize asymptotically the attitude of the quadrotor aircraft. Moreover, they used a new Lyapunov function, which leads to an exponentially stabilizing controller based upon the PD and the compensation of coriolis and gyroscopic torques. While in [9] the authors develop a PID controller in order to stabilize altitude. In [10], a PID controller and a LQ controller were proposed to stabilize the attitude. The PID controller showed the ability to control the attitude in the presence of minor perturbation and the LQ controller provided average results, due to model imperfections Madani et al. studied a full-state backstepping technique based on the Lyapunov stability theory and backstepping control [11], Yet another backstepping control method was proposed by P. Castillo et al. They used this controller with a saturation function and it performed well under perturbation [12]. In [13] a mixed robust feedback linearization with linear GH infinie controller is applied to a nonlinear quadrotor unmanned aerial vehicle, Robust adaptive-fuzzy control was applied in [14]. This controller showed a good performance against sinusoidal wind disturbance. In [15] presente the comparison between a based model method and a fuzzy inference system, In [16] the quadrotor has been controlled in 3 DOF using the combination of the backstepping technique and a nonlinear robust PI controller, in [17] The control strategy includes feedback linearization coupled with a PD controller for the translational subsystem and a backstepping-based PID nonlinear controller for the rotational subsystem of the quadrotor, in References [18, 19] used a feedback linearization approach to stabilise the Four Rotors Helicopter. The sliding mode control has been applied extensively to control quadrotors. The advantage of this approach is its insensitivity to the model errors, parametric uncertainties, ability to globally stabilize the system and other disturbances [20]. In [21] author use the Sliding mode control of a class of underactuated systems and he took the quadrotor as a sample application, In [22] the authors presents a continuous sliding mode control method based on feedback linearization applied to a Quadrotor UAV, In [23] presents a new controller based on backstepping and sliding mode techniques for miniature quadrotor helicopter, In [24] This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modelling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter. Then, we present a control technique based on the development and the synthesis of a control algorithm based upon sliding mode approach ensuring the locally asymptotic stability and desired tracking trajectories expressed in term of the center of Sliding Mode Control Strategy for a 6 DOF Quadrotor Helicopter Zeghlache SAMIR Laboratoire d’analyse des signaux et des systemes, Université de M'sila, Bp : 166, rue ichbilia, 28000 M'sila, Algerie. zeghlache_samir@yahoo.fr