The Attitude Control of Quadrotor Based on Sliding Mode Control

• Main Authors: Yang-Zhe Zheng, 鄭仰哲
• Other Authors: 蔡舜宏
• Format: Others
• Online Access: http://ndltd.ncl.edu.tw/handle/87v3kk

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 104 === In this thesis, the hardware of quadrotor is implemented based on the STM32F4-Discoverty embedded system with the lithium battery, motors, and electronic governor. For the attitude control, the noise of flight data can be filtered by the complementary filter and the hovering attitude of the quadrotor can be modified by the sliding mode controller. By the examination of the controller design, since the flight of quadrotor will be affected by the external disturbance, a sliding mode controller is designed to stabilize the quadrotor. Lastly, the simulation and the real experiment are illustrated to show the effectiveness and the validity of the proposed controller and the developed quadrotor.