Performance Evaluation of a Sliding Mode Control-Kalman Filter-Based Mathematical Model for Altitude and Attitude Control in Quadcopters

Abstract

This study presents an evaluation of a mathematical model designed for altitude and attitude control in quadcopters, employing Sliding Mode Control (SMC) in conjunction with the Kalman Filter algorithm. The developed mathematical model focuses on controlling the quadcopter's height along the z-axis and its attitude, encompassing roll, pitch, and yaw. Simulation results demonstrate that the quadcopter achieves stable control within a time span of 2 to 4 seconds. The designed control system has been simulated, implemented on a mini-quadcopter, and tested for the occurrence of chattering events. The incorporation of the SMC-Kalman Filter control system effectively mitigates chattering, resulting in enhanced stability for the quadcopter. This work show cases the potential of the proposed mathematical model in achieving precise and stable control in quadcopters, thus expanding the applicability of such systems in various applications.