Date of Award
Master of Science (MS)
Mechanical and Aerospace Engineering
Quadrotor helicopters, Sliding mode control, Nonlinear control theory
Nonlinear Adaptive Sliding Mode Control (NASMC) has the capability to adequately control a system whose parameters are unknown to the controller designer. Conventional model-based controllers require a mathematical dynamic model of the system with known parameters. These are normally determined by extensive system identification experiments which are expensive and time consuming to perform. In this thesis, a NASMC approach is proposed that does not require known system parameters. Using NASMC, a controller designer can skip the system parameter identification and fast forward to the control implementation. In addition, once a NASMC controller is derived for a quadcopter, the same controller will work on any quadcopter with the same equations of motion but different dynamic parameters. The formulation of the NASMC is presented for general 2nd-order and 4th-order systems. Then, as an implementation example, the application of the general NASMC approach is demonstrated by applying it to a quadcopter in simulation.
Mathewson, Ryan, "Nonlinear adaptive sliding mode control with application to quadcopters" (2022). Theses. 380.