Synteza i badania algorytmów sterowania ślizgowego modelu drona czterowirnikowego

• Autorzy: Sawiński Albert , Chudzik Piotr , Tatar Karol

Identyfikatory

DOI

10.15199/48.2024.05.16

Warianty tytułu

EN

Synthesis and research of the quadrotor sliding mode control algorithms

• Języki publikacji: PL

Abstrakty

PL

Artykuł zawiera przykład realizacji symulacyjnej algorytmów sterowania ślizgowego dla przypadku problemu regulacji położeń kątowych drona czterowirnikowego. Zaproponowany został model matematyczny drona, który następnie zaimplementowano w środowisku symulacyjnym. Przedstawiono sposób projektowania regulatorów ślizgowych korzystając z metody Lapunowa celem przeprowadzenia dowodu stabilności układu. Artykuł zakończony został analizą porównawczą wyników symulacyjnych układów regulacji klasycznych z regulatorami opartymi o sterowanie ślizgowe.

EN

The article contains an example of a simulation implementation of sliding mode control algorithms for the problem of adjusting the angular position of a quadrotor. A mathematical model of the drone was proposed, which was then implemented in a simulation environment. The method of designing sliding mode controllers using the Lyapunov method in order to prove stability was presented. The article ends with a comparative analysis of simulation test results of classical control systems and controllers based on silding mode control.

Słowa kluczowe

PL

sterowanie ślizgowe; dron czterowirnikowy; modelowanie; badanie symulacyjne

EN

sliding mode control; quadcopter; simulation test; modeling

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2024
• Tom: R. 100, nr 5
• Strony: 92--98
• Opis fizyczny: Bibliogr. 31 poz., rys., tab.

Twórcy

autor

Sawiński Albert

• Politechnika Łódzka, Instytut Automatyki, 90-924 Łódź, ul. B. Stefanowskiego 18/22

• https://orcid.org/0000-0001-8310-9033

autor

Chudzik Piotr

• Politechnika Łódzka, Instytut Automatyki, 90-924 Łódź, ul. B. Stefanowskiego 18/22

• https://orcid.org/0000-0002-5625-291

autor

Tatar Karol

• Politechnika Łódzka, Instytut Automatyki, 90-924 Łódź, ul. B. Stefanowskiego 18/22

• https://orcid.org/0000-0002-2754-2008

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki i promocja sportu (2025).