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Comparing and Developing PID and Sliding Mode Controllers for Quadrotor

Ceren Cömert and Coşku Kasnakoğlu
Electrical and Electronics Engineering, TOBB University of Economics and Technology, Ankara, Turkey
Abstract—This paper provides information about controller design for quadrotors which became an essential research topic. Sliding mode control (SMC) provides better solutions to problems that can be caused by model discrepancies. Firstly, sliding mode controllers are designed for altitude, roll, pitch and yaw angle controls. One common problem of sliding mode control, chattering is eliminated. Then, proportional integral derivative (PID) controller is developed in order to compare and discuss simulation results. Coefficients are tuned by iteration method in both PID and SMC designs. It can be interpreted that the controllers of both designs are capable of tracking the desired values. 

Index Terms—unmanned aerial vehicle, quadcopter, sliding mode control, quadrotor, proportional integral derivative, nonlinear control

Cite: Ceren Cömert and Coşku Kasnakoğlu, "Comparing and Developing PID and Sliding Mode Controllers for Quadrotor," International Journal of Mechanical Engineering and Robotics Research, Vol. 6, No. 3, pp. 194-199, May 2017. DOI: 10.18178/ijmerr.6.3.194-199
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