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Title: Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control

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.

Authors:
; ; ;
Publication Date:
Research Org.:
National Renewable Energy Lab. (NREL), Golden, CO (United States)
Sponsoring Org.:
USDOE Office of Energy Efficiency and Renewable Energy (EERE)
OSTI Identifier:
1343078
Report Number(s):
NREL/CP-5400-67907
DOE Contract Number:  
AC36-08GO28308
Resource Type:
Conference
Resource Relation:
Conference: Presented at the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 21-24 August 2016, Charlotte, North Carolina
Country of Publication:
United States
Language:
English
Subject:
33 ADVANCED PROPULSION SYSTEMS; stress; sliding mode control

Citation Formats

Zhou, Xu, Liu, Rui, Zhang, Jiucai, and Zhang, Xiaoli. Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control. United States: N. p., 2016. Web. doi:10.1115/DETC2016-60060.
Zhou, Xu, Liu, Rui, Zhang, Jiucai, & Zhang, Xiaoli. Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control. United States. doi:10.1115/DETC2016-60060.
Zhou, Xu, Liu, Rui, Zhang, Jiucai, and Zhang, Xiaoli. Sun . "Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control". United States. doi:10.1115/DETC2016-60060.
@article{osti_1343078,
title = {Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control},
author = {Zhou, Xu and Liu, Rui and Zhang, Jiucai and Zhang, Xiaoli},
abstractNote = {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.},
doi = {10.1115/DETC2016-60060},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Sun Aug 21 00:00:00 EDT 2016},
month = {Sun Aug 21 00:00:00 EDT 2016}
}

Conference:
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