Cascade Sliding Mode Control for Linear Displacement Positioning of a Quadrotor.

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Tác giả: Piotr Chudzik, Albert Sawiński, Karol Tatar

Ngôn ngữ: eng

Ký hiệu phân loại: 606 Organizations

Thông tin xuất bản: Switzerland : Sensors (Basel, Switzerland) , 2025

Mô tả vật lý:

Bộ sưu tập: NCBI

ID: 80144

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This paper contains an example of a simulation implementation of sliding mode control algorithms for the problem of adjusting the linear position of a quadrotor. A mathematical model of the drone was proposed, which was then implemented in a simulation environment. The method of designing sliding mode controllers using the Lyapunov method in order to improve stability was presented. A cascade system based entirely on sliding mode control algorithms is introduced. The article ends with a comparative analysis of simulation test results of classical control systems and controllers based on sliding mode control.

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