A GPS - Integrated Slide Controller Application for Quadrotor Tracking in Straight Trajectory
Received: 12 September 2024 | Revised: 11 October 2024 | Accepted: 26 October 2024 | Online: 2 February 2025
Corresponding author: Toan Le Huu
Abstract
Unmanned Aerial Vehicle (UAV) trajectory guidance is an important area in modern aviation and automatic control, requiring the UAV to maintain precise position and velocity along the trajectory despite environmental fluctuations. This article presents the quadrotor hardware and method for developing a trajectory tracking control algorithm, using a sliding mode controller combined with GPS data. The controller' design is based on the nonlinear model of the system, integrating the nonlinear sliding mechanism with information from GPS to ensure that the system follows the target trajectory. The stability of the proposed method is proven through Lyapunov's theorem. The controller is verified through simulation and experiments. The results show that the proposed algorithm helps the quadrotor stabilize the tilt angle and track the trajectory with small errors.
Keywords:
inertial navigation, sliding mode, drone, GPSDownloads
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