The Control and Implemtation of the Quadrotor Based on Second Order Sliding Mode Control

• Main Authors: Jin-Ji Su, 蘇進吉
• Other Authors: Shun-Hung Tsai
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/6943hv

碩士 === 國立臺北科技大學 === 機械工程系機電整合碩士班 === 106 === In this thesis, the problems of implementation and the control for the quadrotor is investigated. Based on the STM32F427 embedded system, gyroscope, accelerometer, barometer, the hardware of the quadrotor is established. For controller design, the second order sliding mode controller is adopted to stabilize the quadrotor. In addition, the Kalman filter is utilized to correct the measurement error and eliminate the noise. Furthermore, the GPS module and the eclipse are adopted; therefore, the developed quadrotor can reach to the desired position accurately. Lastly, the simulation and the real experiment results illustrated the feasibility and effectiveness of the developed quadrotor and the adopted sliding mode control approach.