Adaptive Backstepping Sliding Mode Control of Coaxial Octorotor Unmanned Aerial Vehicle

In this paper, an adaptive backstepping scheme based on sliding mode control method is presented for attitude and altitude tracking control of a coaxial octorotor. The dynamical model of the coaxial octorotor is presented and according to design nature of the control scheme, the dynamical model is divided into three cascaded units: 1) under-actuated unit; 2) fully actuated unit; and 3) rotors thrust force unit. Adaptive backstepping control is then designed for all three units by means of a recursive process using sliding surfaces. The proposed scheme not only stabilizes the given system but also tracks the desired trajectory without any significant tracking error. The stability analysis of the complete system is presented using a Lyapunov stability theory. The results demonstrate the effectiveness of the proposed controller and also show that the proposed controller manages to attain good tracking performance with stabilization of octorotor.

[1]  Luis F. Luque-Vega,et al.  Robust block second order sliding mode control for a quadrotor , 2012, J. Frankl. Inst..

[2]  Xun Gong,et al.  Modeling and robust backstepping sliding mode control with Adaptive RBFNN for a novel coaxial eight-rotor UAV , 2015, IEEE/CAA Journal of Automatica Sinica.

[3]  Antonio Barrientos,et al.  Mini-quadrotor attitude control based on Hybrid Backstepping & Frenet-Serret theory , 2010, 2010 IEEE International Conference on Robotics and Automation.

[4]  T. Madani,et al.  Backstepping Sliding Mode Control Applied to a Miniature Quadrotor Flying Robot , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[5]  Li Aijun,et al.  An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system , 2016, 2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC).

[6]  Guillaume Sanahuja,et al.  Fault diagnosis and fault-tolerant control strategy for rotor failure in an octorotor , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[7]  Yu Feng,et al.  Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping , 2010, Proceedings of the 2010 American Control Conference.

[8]  Ümit Özgüner,et al.  Sliding Mode Control of a Quadrotor Helicopter , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[9]  Xun Gong,et al.  Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle , 2015 .

[10]  ChangSu Ha,et al.  Passivity-based adaptive backstepping control of quadrotor-type UAVs , 2014, Robotics Auton. Syst..

[11]  Shahaboddin Shamshirband,et al.  An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network , 2017 .

[12]  Frank L. Lewis,et al.  Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics , 2009, J. Intell. Robotic Syst..

[13]  Payam Zarafshan,et al.  Dynamics modelling and implementation of an attitude control on an Octorotor , 2015, 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE).

[14]  H. Jin Kim,et al.  Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter , 2009 .

[15]  Roland Siegwart,et al.  Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[16]  M. Tadjine,et al.  Nonlinear Observer Design and Sliding Mode Control of Four Rotors Helicopter , 2007 .

[17]  Isabelle Fantoni,et al.  Fault tolerant control for multiple successive failures in an octorotor: Architecture and experiments , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[18]  Li Aijun,et al.  Design of mixed sensitivity H∞ control for four-rotor hover vehicle , 2017 .

[19]  Hao-Chi Chang,et al.  Sliding mode control on electro-mechanical systems , 1999 .

[20]  Aijun Li,et al.  Modelling and robust attitude trajectory tracking control of 3-DOF four rotor hover vehicle , 2017 .

[21]  Shahaboddin Shamshirband,et al.  A review of quadrotor UAV: control methodologies and performance evaluation , 2016, Int. J. Autom. Control..