Final Year Project

Project Title

Enhancing Precision and Accuracy: PD vs. Sliding Mode Control with Chattering Suppression in Quadrotor Drones

Description

In this study, we first study the kinematics and dynamics of quadrotor drones, focusing on achieving precise control and trajectory adherence in aerial robotics. We compare two control approaches: proportional-derivative (PD) control and sliding mode control (SMC). To enhance accuracy and reduce chattering, our study explores different sliding surface equations within SMC, including the soft sign and other squashing functions. Our control methodology involved two loops: the primary loop for controlling location and the secondary loop for controlling orientation. By incrementally increasing the drone's altitude while minimizing chattering, we demonstrated the efficiency of these control techniques, allowing the drone to navigate in a spiral pattern with improved stability and precision. This research contributes to a deeper understanding of quadrotor drone dynamics and informs effective control strategies for aerial robotics applications.