Applied of an adaptive Higher order sliding mode controller to quadrotor trajectory tracking

In this work, we aim to apply an adaptive Higher order sliding mode controller for trajectory tracking mode of Multi-rotor Unmanned Aerial Vehicles (UAVs) such as a Quadrotor system. The controller consists of the addition of two terms such as nominal term based os classical sliding mode control (SMC) and an adaptive super twisting term. We start the paper by the presentation of the Quadrotor model. Classical SMC is designed in the second step. Next, super twisting and its adaptive variant case were used to replace the discontinuous control part of the SMC for objective to chattering attenuation and performances improvement. Simulation results were presented in the trajectory tracking mode and their performances are compared with those of the STW controller.

[1]  Hakim Bouadi,et al.  Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking , 2011, 2011 IEEE 12th International Symposium on Computational Intelligence and Informatics (CINTI).

[2]  Herman Castaneda,et al.  Adaptive super twisting flight control-observer for a fixed wing UAV , 2013, 2013 International Conference on Unmanned Aircraft Systems (ICUAS).

[3]  A. Levant.  Sliding order and sliding accuracy in sliding mode control , 1993 .

[4]  M. Tadjine,et al.  Classical and second order sliding mode control solution to an attitude stabilization of a four rotors helicopter: From theory to experiment , 2011, 2011 IEEE International Conference on Mechatronics.

[5]  Mehrdad Saif,et al.  Adaptive super twisting sliding mode control of a HVAC system , 2014, 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[6]  Mustapha Hamerlain,et al.  Ant colony optimization of type-2 fuzzy helicopter controller , 2014, 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014).

[7]  Darius Burschka,et al.  Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue , 2012, IEEE Robotics & Automation Magazine.

[8]  Vadim I. Utkin,et al.  Adaptive super-twist control with minimal chattering effect , 2011, IEEE Conference on Decision and Control and European Control Conference.

[9]  Leonid M. Fridman,et al.  Analysis of chattering in continuous sliding-mode controllers , 2005, IEEE Transactions on Automatic Control.

[10]  Vijay Kumar,et al.  Recent advances in quadrotor capabilities , 2011, 2011 IEEE International Conference on Robotics and Automation.

[11]  Franck Plestan,et al.  A robust controller based on adaptive super-twisting algorithm for a 3DOF helicopter , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[12]  Peter I. Corke,et al.  Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor , 2012, IEEE Robotics & Automation Magazine.

[13]  Yuri B. Shtessel,et al.  Super-twisting adaptive sliding mode control: A Lyapunov design , 2010, 49th IEEE Conference on Decision and Control (CDC).

[14]  Yuanqing Xia,et al.  Finite-Time Attitude Control for Rigid Spacecraft Based on Adaptive Super-Twisting Algorithm , 2014, Finite Time and Cooperative Control of Flight Vehicles.

[15]  Leonid M. Fridman,et al.  Lyapunov-Designed Super-Twisting Sliding Mode Control for Wind Energy Conversion Optimization , 2013, IEEE Transactions on Industrial Electronics.