| Author | Nicom Promkajin |
| Note | A dissertation submitted in partial fulfillment of the requirements for the
degree of Doctor of Engineering in
Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | This research proposes a sliding mode control (SMC) for a quadrotor helicopter by using an offset cancellation technique. Most of the works on SMC on quadrotors assumed that all rotors were identical, but in fact the rotors even from the same factory are not exactly the same. In addition, in practical, rotor deformation from shock may change the original parameters. As can be seen from experiments, the non-identical rotors cause offset in the attitude responses. By using the proposed offset cancellation technique in the SMC, the attitude error is forced to be zero at the average. The proposed controller is used to control attitude and position of a quadrotor helicopter, composing four engines to generate lift forces independently. Performance comparison of the proposed SMC and some other control algorithms is conducted. |
| Year | 2018 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Attaphongse Taparugssanagorn;Takamasu, Kiyoshi ; |
| Scholarship Donor(s) | National Electronics and Computer Technology Center (NECTEC), Thailand ;Royal Thai Government Fellowship |
| Degree | Thesis (Ph.D.) -- Asian Institute of Technology, 2018 |