An adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs

To overcome nonlinear and 6-DOF (degrees of freedom) under-actuated problems for the attitude and position of quadrotor UAVs, an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed, in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control. In addition, the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory. Finally, based on the numerical simulation of quadrotor UAVs using the setting parameters, the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.摘要本文针对四旋翼无人机飞行姿态系统的非线性强耦合、外界干扰及参数摄动等各种不确定因素 影响,提出一种自适应反演滑模控制算法。构造李雅普诺夫函数,证明控制系统的稳定性。其中自适 应方法用来对控制系统中不确定的上界进行在线估计,并将估计值补偿到反演滑模控制中,然后,由 反演滑模控制实现飞行姿态系统的输出。控制器仿真及实验结果表明,该方法的响应速度快,跟踪误 差小,并具有较好的鲁棒性。

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

[2]  Xian-wen Gao,et al.  Robust adaptive control for a class of uncertain non-affine nonlinear systems using neural state feedback compensation , 2016 .

[3]  Dongjun Lee,et al.  Backstepping Control of Quadrotor-Type UAVs and Its Application to Teleoperation over the Internet , 2012, IAS.

[4]  Rogelio Lozano,et al.  Modelling and Control of Mini-Flying Machines , 2005 .

[5]  Hossein Bolandi,et al.  Attitude Control of a Quadrotor with Optimized PID Controller , 2013, Intelligent Control and Automation.

[6]  Qiang Sun,et al.  Backstepping sliding mode tracking control of quad-rotor under input saturation , 2012, Int. J. Intell. Comput. Cybern..

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

[8]  En-hui Zheng,et al.  Second order sliding mode control for a quadrotor UAV. , 2014, ISA transactions.

[9]  Zhixiang Zhang,et al.  Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method , 2013 .

[10]  James M. Conrad,et al.  A survey of quadrotor Unmanned Aerial Vehicles , 2012, 2012 Proceedings of IEEE Southeastcon.

[11]  Daewon Lee,et al.  Build Your Own Quadrotor: Open-Source Projects on Unmanned Aerial Vehicles , 2012, IEEE Robotics & Automation Magazine.

[12]  Yao Zhang,et al.  A low-cost hardware-in-the-loop-simulation testbed of quadrotor UAV and implementation of nonlinear control schemes , 2015, Robotica.

[13]  A. A. Saif,et al.  Modified backstepping control of Quadrotor , 2012, International Multi-Conference on Systems, Sygnals & Devices.

[14]  Mehmet Önder Efe,et al.  Battery power loss compensated fractional order sliding mode control of a quadrotor UAV , 2012 .

[15]  Tyler Ryan,et al.  LMI-Based Gain Synthesis for Simple Robust Quadrotor Control , 2013, IEEE Transactions on Automation Science and Engineering.

[16]  Fulvia Quagliotti,et al.  Linear Quadratic Control for Quadrotors UAVs Dynamics and Formation Flight , 2013, J. Intell. Robotic Syst..

[17]  Yungang Liu,et al.  Barbalat Lemma and its application in analysis of system stability , 2007 .

[18]  Francisco Jurado,et al.  Stabilization of a quadrotor via Takagi-Sugeno fuzzy control , 2008 .

[19]  A. El Saddik,et al.  Nonlinear adaptive control for quadrotor flying vehicle , 2014 .

[20]  Hyochoong Bang,et al.  Quadrotor-tracking controller design using adaptive dynamic feedback-linearization method , 2014 .

[21]  Anuradha M. Annaswamy,et al.  Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations , 2013, IEEE Transactions on Control Systems Technology.

[22]  Chengli Su,et al.  Incremental multivariable predictive functional control and its application in a gas fractionation unit , 2015 .

[23]  Mohammad A. Ayoubi,et al.  Shared Fuzzy Control of Multiple Quadrotor UAVs With Time-Dependent Delay and Bounded Control-Input Constraint , 2015 .

[24]  Chun Kiat Tan,et al.  Tracking of a moving ground target by a quadrotor using a backstepping approach based on a full state cascaded dynamics , 2016, Appl. Soft Comput..

[25]  Ümit Özgüner,et al.  Sliding mode control of a class of underactuated systems , 2008, Autom..

[26]  Lorenzo Pollini,et al.  Simulation and Robust Backstepping Control of a Quadrotor Aircraft , 2008 .

[27]  Heinrich H. Bülthoff,et al.  Modeling and control of a quadrotor UAV with tilting propellers , 2012, 2012 IEEE International Conference on Robotics and Automation.

[28]  Gerard Leng,et al.  Design of small-scale quadrotor unmanned air vehicles using genetic algorithms , 2007 .

[29]  Youmin Zhang,et al.  Fault tolerant control of a quadrotor UAV using sliding mode control , 2010, 2010 Conference on Control and Fault-Tolerant Systems (SysTol).

[30]  Anuradha M. Annaswamy,et al.  Adaptive Control of Quadrotor UAVs in the Presence of Actuator Uncertainties , 2010 .

[31]  A. Swarup,et al.  Development of backstepping based sliding mode control for a quadrotor , 2014, 2014 IEEE 10th International Colloquium on Signal Processing and its Applications.

[32]  Youmin Zhang,et al.  Payload Drop Application Using an Unmanned Quadrotor Helicopter Based on Gain-Scheduled PID and Model Predictive Control , 2014 .

[33]  Mehmet Önder Efe,et al.  Neural Network Assisted Computationally Simple PI$^\lambda$D$^\mu$ Control of a Quadrotor UAV , 2011, IEEE Transactions on Industrial Informatics.

[34]  Guobao Zhang,et al.  Discrete-time sliding mode control for a quadrotor UAV , 2016 .

[35]  Matilde Santos,et al.  Intelligent fuzzy controller of a quadrotor , 2010, 2010 IEEE International Conference on Intelligent Systems and Knowledge Engineering.

[36]  Lorenzo Marconi,et al.  Nested saturation control of an UAV carrying a suspended load , 2014, 2014 American Control Conference.

[37]  Mark W. Spong,et al.  Robust Optimal Control of Quadrotor UAVs , 2013, IEEE Access.

[38]  Okyay Kaynak,et al.  Fuzzy Logic Based Approach to Design of Flight Control and Navigation Tasks for Autonomous Unmanned Aerial Vehicles , 2009, J. Intell. Robotic Syst..

[39]  Nacer K. M'Sirdi,et al.  Feedback linearization and linear observer for a quadrotor unmanned aerial vehicle , 2006, Adv. Robotics.

[40]  T. Madani,et al.  Control of a Quadrotor Mini-Helicopter via Full State Backstepping Technique , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[41]  Haibin Duan,et al.  Implementation of autonomous visual tracking and landing for a low-cost quadrotor , 2013 .

[42]  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.

[43]  Weihua Zhao,et al.  Swarming Coordination with Robust Control Lyapunov Function Approach , 2015, J. Intell. Robotic Syst..

[44]  Anthony Tzes,et al.  Model predictive quadrotor control: attitude, altitude and position experimental studies , 2012 .