Abstract:
Multi-rotor unmanned aerial vehicle (MUAV) has gathered a lot of interest from the
research community owing to its simple structure, easy maneuverability and ability to take-off
and land vertically. These characteristics have immensely increased the chances for MUAV to
become a potential candidate for various applications for which traditional UAVs proved
ineffective. Major challenges highlighted by literature survey are un-modeled dynamics
estimation and exploration of robust techniques for controlingthe flight.
This work is aimed to develop an adaptive sliding mode controller for a quadrotor. In the
formulation of a control problem there are inevitable diffrences between real world plant and the
mathematical equations used for design of controller. Adaptive sliding mode controller tries to
overcome this mismatch. The proposed technique is demonstrated by applying it to a simulink
model of a commercially available mini drone i.e. Parrot mambo. The effectiveness of the
aforementioned technique in the presence of wind disturbance is evaluated using simulations.
Developed algorithm is also demonstrated by deployment on actual hardware. The proposed
techniques provide excellent guidance for the controller design of other MUAV systems and also
for other nonlinear under actuated systems.
