PID And SMC Based Quadrotor Attitude Control: Simulation And Experimental Research

Quadcopter,also known as quadrotor,is a helicopter with four rotors.The rotors are directed upwards and they are placed in a square formation with equal distance from the center of mass of the quadcopter.The quadcopter is controlled by adjusting the angular velocities of the rotors which are spun by electric motors.Quadcopter is a typical design for small unmanned aerial vehicles(UAV)because of the simple structure.Quadcopters are used in surveillance,search and rescue,construction inspections and several other applications.This paper provides information about controller design for quadrotors which became an essential research topic.Sliding mode control(SMC)provides better solutions to problems that can be caused by model discrepancies.Firstly,proportional integral derivative(PID)controllers are designed for altitude,roll,pitch and yaw angle controls.Then,SMC controller is developed in order to compare and discuss simulation results.Then the chattering problem,which is a common problem of sliding mode control,is eliminated.Coefficients are tuned by iteration method in both PID and SMC designs.It can be interpreted that both controllers are capable of tracking the desired values.