Integral sliding mode backstepping control of quadrotors for robust position tracking

A backstepping-based controller that induces integral sliding modes for underactuated lightweight quadrotors is presented for the Newton-Euler dynamic model subject to smooth bounded disturbances, including wind gust and sideslip aerodynamics, as well as dissipative drag in position and orientation dynamics. The chattering-free sliding mode compensates for persistent or intermittent, and possible time-varying, state dependant disturbances. The closed-loop dynamics rejects such disturbances with a chattering-free control effort showing a robust position tracking, possibly with reduced information of the dynamic model. Representative simulations are presented and discussed.

[1]  J. Gordon Leishman,et al.  Principles of Helicopter Aerodynamics , 2000 .

[2]  Shuzhi Sam Ge,et al.  Adaptive neural network control for strict-feedback nonlinear systems using backstepping design , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[3]  Vicente Parra-Vega,et al.  Position Tracking With Time-Varying Desired Yaw of Quadrotors: Basics and Applications in SE(3) , 2012 .

[4]  S. Sastry,et al.  Output tracking control design of a helicopter model based on approximate linearization , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[5]  Antonella Ferrara,et al.  Properties of a combined adaptive/second-order sliding mode control algorithm for some classes of uncertain nonlinear systems , 2000, IEEE Trans. Autom. Control..

[6]  Rita Cunha,et al.  Nonlinear trajectory tracking control of a quadrotor vehicle , 2009, 2009 European Control Conference (ECC).

[7]  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.

[8]  Lorenzo Marconi,et al.  Robust nonlinear motion control of a helicopter , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[9]  R. Mahony,et al.  Robust trajectory tracking for a scale model autonomous helicopter , 2004 .

[10]  Abdelaziz Benallegue,et al.  Backstepping control with exact 2-sliding mode estimation for a quadrotor unmanned aerial vehicle , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  T.I. Fossen,et al.  On integral control in backstepping: analysis of different techniques , 2004, Proceedings of the 2004 American Control Conference.

[12]  A. Levant.  Robust exact differentiation via sliding mode technique , 1998 .

[13]  Abdelaziz Benallegue,et al.  Backstepping Control for a Quadrotor Helicopter , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  D. Mayne.  Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[15]  Yunhui Liu,et al.  Dynamic sliding PID control for tracking of robot manipulators: theory and experiments , 2003, IEEE Trans. Robotics Autom..