Adaptive backstepping fast terminal sliding mode control (AB-FTSMC) for varying dynamics of highly coupled unmanned aerial vehicle: An experimental study

Abstract

This paper introduces the innovative Adaptive Backstepping Fast Terminal Sliding Mode Control (AB-FTSMC) for Unmanned Aerial Vehicles (UAVs), a groundbreaking approach designed to address the complex challenges in UAV dynamics, such as perturbations, disturbances, and the intricate inter-coupling of control systems. What sets the AB-FTSMC apart is its unique integration of the robust Fast Terminal Sliding Mode Control with the layered approach of Backstepping Control. This combination not only offers enhanced adaptability to a range of uncertainties including actuator failures and unmodeled states, but it also represents a significant leap in UAV control technology. The control process of AB-FTSMC is strategically divided into two distinct phases. The initial phase employs Newton-Euler formalism to develop a comprehensive mathematical model of the UAV, incorporating key concepts of observability and controllability for assured stability. The subsequent phase involves the implementation of a robust AB-FTSMC controller, meticulously designed to precisely regulate the UAV’s pitch and yaw angles, effectively countering issues such as gyroscopic torque and parametric uncertainties. The novelty of this research lies in its methodical approach to tackling the traditionally complex problem of UAV control. By merging two sophisticated control strategies, the AB-FTSMC method not only mitigates common UAV control issues but also ensures a higher degree of stability and rapid convergence of state variables. The practical effectiveness of this novel control system is underscored through extensive real-time simulation responses of a UAV hardware prototype, clearly demonstrating its superior performance and adaptability under various perturbations.