A Nonlinear Discrete-Time Sliding Mode Controller for Autonomous Navigation of an Aerial Vehicle Using Hector SLAM

Can, Aydin and Price, Joshua and Montazeri, Allahyar (2022) A Nonlinear Discrete-Time Sliding Mode Controller for Autonomous Navigation of an Aerial Vehicle Using Hector SLAM. IFAC-PapersOnLine, 55 (10). 2653–2658. ISSN 2405-8963

[thumbnail of MIM_Discrete_time_control_FINAL]

Text (MIM_Discrete_time_control_FINAL)
MIM_Discrete_time_control_FINAL.pdf - Accepted Version
Available under License Creative Commons Attribution-NonCommercial-NoDerivs.
Download (1MB)

Abstract

In this paper, a discrete-time sliding mode controller (DTSMC) is designed for full position and attitude control of a quadrotor UAV. The aim of this study is to design a controller suitable for practical implementation on an autonomous quadrotor for remote sensing in hostile nuclear environments. A nested DTSMC is developed and compared against two continuous-time sliding mode control methods; classical SMC, as well as a chattering-free SMC (CFSMC), studied in the previous works. The performance of the controllers is evaluated in combination with the Hector SLAM algorithm for localisation in GPS-denied environments. For this purpose, MATLAB in combination with the Robotic Operating System (ROS) is used to develop the controllers. Control signals are sent from MATLAB to the Gazebo simulation environment in ROS, which simulates the quadrotor and runs the Hector SLAM algorithm.

Item Type:

Journal Article

Journal or Publication Title:

IFAC-PapersOnLine

Additional Information:

This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, 10, 2022 DOI: 10.1016/j.ifacol.2022.10.110

Subjects:

?? sliding mode controlquadrotor controlnonlinear discrete-time controlhector slamtrajectory tracking ??

Departments:

Faculty of Science and Technology > Engineering

ID Code:

179351

Deposited By:

ep_importer_pure

Deposited On:

13 Dec 2022 16:35

Refereed?:

Yes