Robust adaptive global nonlinear sliding mode controller for a quadrotor under external disturbances and uncertainties

The present paper proposes an adaptive global nonlinear sliding mode controller (AGNSMC) for the tracking problem of a quadrotor subjected to external disturbances. In order to eliminate the reaching phase and to guarantee the sliding mode of the quadrotor states in the initial time, a novel control law is developed. The upper bounds of disturbances affected the quadrotor dynamics are rejected based on adaptive laws for the both attitude and position subsystem. The tracking performance is enhanced by using the suggested controller. The stability of quadrotor is guaranteed and the global sliding mode surfaces converge to origin values in a finite time. To show the robustness of the proposed control approach against the external disturbances, simulation results are presented and compared with the results of the super-twisting-integral sliding mode controller.

[1]  Moussa Labbadi,et al.  Path Following Control of Quadrotor UAV With Continuous Fractional-Order Super Twisting Sliding Mode , 2020, Journal of Intelligent & Robotic Systems.

[2]  Maarouf Saad,et al.  Position and attitude tracking of uncertain quadrotor unmanned aerial vehicles based on non-singular terminal super-twisting algorithm , 2020, J. Syst. Control. Eng..

[3]  Maarouf Saad,et al.  Three-loop uncertainties compensator and sliding mode quadrotor control , 2020, Comput. Electr. Eng..

[4]  Jamshed Iqbal,et al.  Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter , 2020 .

[5]  Moussa Labbadi,et al.  Robust adaptive backstepping fast terminal sliding mode controller for uncertain quadrotor UAV , 2019, Aerospace Science and Technology.

[6]  Yaonan Wang,et al.  Adaptive and robust control of quadrotor aircrafts with input saturation , 2017 .

[7]  Akhilesh Swarup,et al.  On adaptive sliding mode control for improved quadrotor tracking , 2018 .

[8]  Di Shi,et al.  Anti-disturbance trajectory tracking of quadrotor vehicles via generalized extended state observer , 2019 .

[9]  Yong Zhang,et al.  Trajectory tracking control for a quadrotor unmanned aerial vehicle based on dynamic surface active disturbance rejection control , 2020, Trans. Inst. Meas. Control.

[10]  Zhihao Cai,et al.  Quadrotor trajectory tracking and obstacle avoidance by chaotic grey wolf optimization- based backstepping control with sliding mode extended state observer , 2020, Trans. Inst. Meas. Control.

[11]  Moussa Labbadi,et al.  Robust adaptive nonsingular fast terminal sliding-mode tracking control for an uncertain quadrotor UAV subjected to disturbances. , 2019, ISA transactions.

[12]  Mohammad Reza Soltanpour,et al.  Robust linear parameter varying attitude control of a quadrotor unmanned aerial vehicle with state constraints and input saturation subject to wind disturbance , 2020, Trans. Inst. Meas. Control.

[13]  Inna Sharf,et al.  A constrained error-based MPC for path following of quadrotor with stability analysis , 2020, Nonlinear Dynamics.

[14]  Yisheng Zhong,et al.  Robust Control for Quadrotors With Multiple Time-Varying Uncertainties and Delays , 2017, IEEE Transactions on Industrial Electronics.

[15]  Aws Abdulsalam Najm,et al.  Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance Rejection Control , 2020 .

[16]  Fairouz Tchier,et al.  Design of an adaptive tracker for n-link rigid robotic manipulators based on super-twisting global nonlinear sliding mode control , 2017, Int. J. Syst. Sci..

[17]  Zhaobi Chu,et al.  Finite-time trajectory control for a quadrotor aircraft using disturbance observer , 2020 .

[18]  Moussa Labbadi,et al.  Novel robust super twisting integral sliding mode controller for a quadrotor under external disturbances , 2020 .

[19]  Yunpeng Zhang,et al.  Multivariable Finite Time Attitude Control for Quadrotor UAV: Theory and Experimentation , 2018, IEEE Transactions on Industrial Electronics.

[20]  Peng Wei,et al.  Mitigating ground effect on mini quadcopters with model reference adaptive control , 2019, International Journal of Intelligent Robotics and Applications.

[21]  Moussa Labbadi,et al.  Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances , 2019, International Journal of Aerospace Engineering.

[22]  Saleh Mobayen,et al.  Design of LMI-based global sliding mode controller for uncertain nonlinear systems with application to Genesio's chaotic system , 2015, Complex..

[23]  Nardênio Almeida Martins,et al.  A Simple Optimization Method for Tuning the Gains of PID Controllers for the Autopilot of Cessna 182 Aircraft Using Model-in-the-Loop Platform , 2018, Journal of Control, Automation and Electrical Systems.