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In this study, the implementation of the sliding mode control method regarding a varying sliding surface on a electromechanical fin actuation system is dealt with. First, the mathematical model of the considered control actuation system is derived and then a control system considering the sliding mode control approach is designed upon the mentioned model. In this extent, the sliding mode controllers with both constant and varying sliding surfaces are evaluated individually. For the varying sliding surface case, the variation of the surface is described by means of a time dependent first order linear function. Moreover, the ajdustment is tried to be done regarding appropriately-constructed fuzzy functions, too. For comparison purpose, a classical control system accounting the PID (proportional plus integral plus derivative) control action is also designed. At the end of the study, the responses of all the proposed control schemes are evaluated altogether. [ABSTRACT FROM AUTHOR]

This study includes altitude stabilization, hovering control and attitude control of quadrotor. Classically PD controller derived and applied to this system. Inverse dynamic control, feedback linearization control and sliding mode control methods have used to derive as nonlinear controllers. Linear and nonlinear control techniques applied to mathematical model as simulation and applied to quadrotor platform for experimental results. Derived control methods have been performed using computer simulations and compared the results according to this study objectives. [ABSTRACT FROM AUTHOR]