Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control: Paper No. DETC2016-60060

Jiucai Zhang, Xu Zhou, Rui Liu, Xiaoli Zhang

Research output: Contribution to conferencePaper

25 Scopus Citations

Abstract

The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the quadrotor's stability in this situation, we investigate the impacts of the uncertain load mass on the quadrotor. By comparing the simulation results of two controllers -- the proportional-derivative (PD) controller and the sliding mode controller (SMC) driven by a sliding mode disturbance of observer (SMDO), the quadrotor's performance is verified to be worse as the uncertainty increases. The simulation results also show a controller with stronger robustness against disturbances is better for practical applications.
Original languageAmerican English
Number of pages8
DOIs
StatePublished - 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Charlotte, North Carolina
Duration: 21 Aug 201624 Aug 2016

Conference

ConferenceASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CityCharlotte, North Carolina
Period21/08/1624/08/16

NREL Publication Number

  • NREL/CP-5400-67907

Keywords

  • sliding mode control
  • stress

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