MATLAB Simulation of Sliding Mode Control based on Backstepping for Quadrotor

[@NaveedAnjum1987]

Well explained. Highly appreciated.❤

[@刘华健-f7f]

That's a very understandable tutorial, but i think the V_1~V_12 in page 26 should be some kinds of Lyapunov function instead of the input of the motor (Voltage)

[@ENGMY]

Please notice that Equation (22) in the paper defines the Layapunov functions not the motor voltages. Also c_theta= cos(theta), and c_phi= cos(phi). That is, they are not constants,

[@cset]

Noted :)

[@souravde6116]

Sir, can you inform a bit about what Backstepping control is and how they differ from SMC? How it is designed and why is it used?

[@cset]

Here is most of the answer to your question kzbin.info/www/bejne/nZjEpZyHpdOEi9k SMC is used where there are bounded uncertainties in the model Backstepping is for systems having a special structure in the state dynamics (we exploit the structure to breakdown the process of control design into smaller "steps")

[@chumgi8060]

Professor, thank you for the great video. For V1, it is the Lyapunov function. I want to put this into the original voltage. How can I design the equation?

[@cset]

Please read the research paper discussed in the video for equations.

[@Nguyen_Manh1708]

could you simulate adaptive motion/force control for coordinated multiple robots please

[@xa91]

could you please simulate a fractional observer paper

[@meditationmusic7927]

Dear sir, have you made any video for simulation of this paper on simulink! if so please share the link.

[@cset]

Sorry I don't use SIMULINK

[@tellikhaled]

Very good work , but you misunderstood the meaning of Cp and Ct , is the cos of angle psi and the cos of angle teta Cos(teta) not constant

[@tellikhaled]

Where C and S indicate the trigonometrically functions cos and sin respectively

[@nguyenquangthien6375]

Dear sir, Can I ask for your comment, because I have questions? Here I do not see the use of "Nonholonomic Constraints" i.e. formula (14) in your code. I only see ux and uy (fomular 20), I assume it is inputs of formula 14, is it right? According to what I understand, the x y position cannot be controlled directly but must be through the influence of angles phid and thed. In addition, I see a confusion in lines 45->48 in the video using Lyapunov's V function (formula 21) instead of the engine's V function (formula 16), as I see in the paper. The motor model is presented in the paper, but it seems that this part is omitted in the code, right?

[@Lifee_360]

thanks for sharing this video, it was really helpful. I have a doubt.....if i have to plot the control functions given by U1, U2, U3, U4....what shall I do? Plz reply

[@cset]

Thanks for the kind words. You can plot the control signals by replicating some of the code from the function file into the execution file. Please see an example here kzbin.info/www/bejne/r6WVq6Oceseqlck

[@Lifee_360]

@@cset thanks for replying...can we connect through email if you dont mind ??...would like to discuss a bit more if you are fine with it...people like you who are sharing your knowledge in your field are making life easy for students like us :) love from India

[@cset]

@@Lifee_360 I am humbled by your kindness. Unfortunately, I have not been able to find time in recent months. My email is ([e-mail]), but please understand if I cannot engage much.

[@Lifee_360]

@@cset Gm Professor, I have one more doubt, plz dont mind.....while defining the dynamics in matlab code we are using Ux and Uy for \dot (x8) and \dot(x10) respectively......which are already given by equation (20)......but again we are deriving Ux and Uy in order to control the x and y position......so whats the use of equation (20) since are not using that equation in code ??

[@cset]

@@Lifee_360 If I remember correctly, the control in (20) is an older one rewritten in the paper and the control in (24) is the new one proposed by the authors of the paper. You can try both controls separately and compare the performance if you want.

[@TrungHieuLuong-gi2uq]

how to choose parameters alpha

[@taslekar07]

Hello Mr. ALi, Could you Simulate SMC for stabilizing the attitude of the quadrotor? Thanks

[@anvlogs1088]

do u make it yet? can u share for me, please ,

[@abeershply1072]

السلام عليكم . هل ممكن ان تفوم بعمل فيديوا لي الطائرة الرباعية لي المتحكم النزلاقي فقط

[@LongNguyenHoang-fc4dj]

I have got some error in ode45 and not enoufh input arguments in line 3 of QRBS: ob= x(13)-x(14)+x(15)-x(16). Please help me!!!

[@MDSAIF-q6c]

i got also same error in both...

[@MDSAIF-q6c]

did your problem solve?

[@jamalhussainarman2249]

Same here

[@roseAlsa]

can you solve the problem ? i want to know why?😭😭😭😭😭

[@roseAlsa]

@@MDSAIF-q6c did your problem solve?😭😭😭😭

[@ibrahimmohammad7657]

could you please simulate a paper for Vehicle Stability Enhancement Using Sliding Mode Based Active Front Steering and Direct Yaw Moment Control

[@MDSAIF-q6c]

can you share your code ?

[@lifesgood5665]

Sir plz. Bring new videos

[@farehebahrami]

Hello sir Can I have Your email? I have got some errors in ode45

[@cset]

My email is [e-mail] I hope that you can resolve the error on your own. Just read the error statement carefully it will tell you which line of the code has the error. Then you can compare that line with the code in the video. Sometimes it also happens that the students try to run the function file itself. You are supposed to run the script file and not the function file.

[@farehebahrami]

If it's possible please check your email🙏 Yeah I tried of course

[@irfanchaudhry3338]

Hello, were you able to fix the error, I have the same problem!

[@ommodi5840]

sir please share the paper.........

[@irfanchaudhry3338]

Hello, is your code working?