Autonomous Quadcopter Trajectory Tracking and Stabilization Using Control System Based on Sliding Mode Control and Kalman Filter

Nilla Perdana Agustina, Purwadi Agus Darwito

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, a control system based on Sliding Mode Control (SMC) and Kalman Filter has been designed to stabilize the quadcopter in the takeoff and hover phases as well as at the expected altitude. The control system is needed to support the performance of the quadcopter in carrying out the mission that has been given. The designed control system begins with the creation of a system model equation and is implemented in a real quadcopter simulation. The resulting response in terms of the results of the resulting control signal is stable, meets the trajectory as expected, and can produce a real quadcopter simulation taking off vertically and flying stably. Even though there was an unstable response for about 15 to 20 seconds at the beginning of the resulting response, after that the system showed stability. Tracking the resulting trajectory in accordance with the desired trajectory. Real quadcopter simulation results show that the takeoff phase can be carried out vertically and that the resulting trajectory stability can be stable during takeoff and flight. The height of the quadcopter has reached 100%, namely with a height of 1.5 meters as expected, and the average error value obtained at the x position is 2.93e^-07, the y position is 2.96e^-07, and the z position is 1.80e^-03. The proposed SMC-Kalman filter control system is expected to be implemented in a conventional quadcopter that has been developed.

Original languageEnglish
Title of host publication2023 International Seminar on Intelligent Technology and Its Applications
Subtitle of host publicationLeveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages489-493
Number of pages5
ISBN (Electronic)9798350313956
DOIs
Publication statusPublished - 2023
Event24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023 - Hybrid, Surabaya, Indonesia
Duration: 26 Jul 202327 Jul 2023

Publication series

Name2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding

Conference

Conference24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023
Country/TerritoryIndonesia
CityHybrid, Surabaya
Period26/07/2327/07/23

Keywords

  • Autonomous Quadcopter
  • Chattering
  • Kalman Filter
  • Sliding Mode Control (SMC)
  • Vertical Take-off

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