Finite-Time Flight Control of Uncertain Quadrotor UAV based on Modified Non-Singular Fast Terminal Super-Twisting Control

This work tackles the problem of controlling quadrotor Unmanned Aerial Vehicles (UAVs) subject to model uncertainties and perturbations. The objective of the paper is to design a sliding mode controller capable of ensuring accurate position and attitude tracking performance while preventing singularity problem in the fast terminal sliding surface. To this end, a modified non-singular fast terminal second-order sliding mode, based on the robust continuous Super-Twisting algorithm, is proposed. First, a new exponential law is proposed to bypass the singularity problem in the conventional terminal sliding surface. Then, it is shown that the proposed modified Super-Twisting structure allows fast finite-time convergence of the switching function even if the trajectories of the considered system are relatively far from the selected function. Moreover, the proposed method reduces the chattering phenomenon. The stability of the closed-loop system is proved by means of a Lyapunov function. Finally, comparative simulation results are shown to demonstrate the effectiveness of the proposed controller.

[1]  Irfan-Ullah Awan,et al.  A second order sliding mode control design of a switched reluctance motor using super twisting algorithm , 2012, Simul. Model. Pract. Theory.

[2]  Saleh Mobayen,et al.  Fast terminal sliding mode tracking of non-holonomic systems with exponential decay rate , 2015 .

[3]  Neila Mezghani,et al.  Adaptive nonsingular fast terminal sliding-mode control for the tracking problem of uncertain dynamical systems. , 2018, ISA transactions.

[4]  Giorgio Bartolini,et al.  A survey of applications of second-order sliding mode control to mechanical systems , 2003 .

[5]  Arie Levant,et al.  Chattering Analysis , 2007, IEEE Transactions on Automatic Control.

[6]  Maarouf Saad,et al.  Super-twisting algorithm with time delay estimation for uncertain robot manipulators , 2018 .

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

[8]  Igor M. Boiko,et al.  Chattering in sliding mode control systems with boundary layer approximation of discontinuous control , 2013, Int. J. Syst. Sci..

[9]  Leonid M. Fridman,et al.  An averaging approach to chattering , 2001, IEEE Trans. Autom. Control..

[10]  Di Wu,et al.  Finite-time position tracking control of a quadrotor aircraft , 2017, 2017 36th Chinese Control Conference (CCC).

[11]  Christopher Edwards,et al.  Sliding Mode Control and Observation , 2013 .

[12]  Leonid M. Fridman,et al.  Super twisting control algorithm for the attitude tracking of a four rotors UAV , 2012, J. Frankl. Inst..

[13]  Guanghui Sun,et al.  Dual terminal sliding mode control design for rigid robotic manipulator , 2017, J. Frankl. Inst..

[14]  Juntao Fei,et al.  Design and analysis of adaptive Super-Twisting sliding mode control for a microgyroscope , 2018, PloS one.

[15]  Charles J. Fallaha,et al.  Sliding-Mode Robot Control With Exponential Reaching Law , 2011, IEEE Transactions on Industrial Electronics.

[16]  Daoxiang Gao,et al.  Adaptive fuzzy sliding mode control for robotic manipulators , 2010, 2010 8th World Congress on Intelligent Control and Automation.

[17]  Jaime A. Moreno,et al.  Super-twisting observer for second-order systems with time-varying coefficient , 2015 .

[18]  Jinkun Liu,et al.  Advanced Sliding Mode Control for Mechanical Systems , 2011 .

[19]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[20]  Vadim I. Utkin,et al.  Sliding mode control in electromechanical systems , 1999 .

[21]  Christopher Edwards,et al.  Sliding mode control : theory and applications , 1998 .

[22]  Tianyou Chai,et al.  Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynamics , 2009, IEEE Transactions on Industrial Electronics.

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

[24]  Shiyin Qin,et al.  A new modified super-twisting algorithm with double closed-loop feedback regulation , 2017 .

[25]  Walter Lucia,et al.  An obstacle avoidance and motion planning Command Governor based scheme: The Qball-X4 quadrotor case of study , 2014, 53rd IEEE Conference on Decision and Control.

[26]  Yao Zhang,et al.  Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV Via Immersion and Invariance Methodology , 2015, IEEE Transactions on Industrial Electronics.

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

[28]  Walter Lucia,et al.  A Hybrid Command Governor Scheme for Rotary Wings Unmanned Aerial Vehicles , 2020, IEEE Transactions on Control Systems Technology.

[29]  Vadim I. Utkin,et al.  On Convergence Time and Disturbance Rejection of Super-Twisting Control , 2013, IEEE Transactions on Automatic Control.