PID Based Sliding Mode Controller with Perturbation Estimation Design for the Micro Quadrotor

Abstract

In this thesis, a PID Based Sliding Mode Controller with Perturbation Estimation (PIDSMCPE) is developed and implemented on a micro quadrotor. The micro quadrotor is a nonlinear, underactuated and interconnected system, thus it should be regulated by an appropriate control technique. The advantages of the proposed controller are to remain the robustness characteristics to disturbances and model errors and to solve the chattering phenomenon of the Conventional Sliding Mode Control (SMC) by taking advantages of two improved versions of SMC, namely Sliding Mode Control with Perturbation Estimation (SMCPE) and PID Based Sliding Mode Control (PIDSMC).Therefore, it can prevent the unexpected instability, decrease the energy consumption and improve the operation of the micro quadrotor. The effectiveness of the proposed controller is demonstrated through simulation results.