Adaptive fuzzy global sliding mode control for trajectory tracking of quadrotor UAVs

Zhang, Juqian; Ren, Zhaohui; Deng, Chao; Wen, Bangchun

doi:10.1007/s11071-019-05002-9

Cited by 73 publications

(37 citation statements)

References 62 publications

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“…Currently, there are several studies on fuzzy systems with trigonometric [12] and Gaussian functions [18,30], in which the satisfactory approximation performance for uncertain disturbances has been demonstrated, especially the Gaussian function. Here the membership function is selected as:…”

Section: Attitude Controller Designmentioning

confidence: 99%

“…According to the virtual variables in , , Eq. (3)(4)(5)(6)(7)(8)(9)(10)(11), (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13) and (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14), for parameters 1 > 1 , 3 > 2 , 1 > 3 , where 1 , 2 and 3 is the upper bound of disturbance 1 ( , , . ), 2 ( , , .…”

Section: Stability Analysis Of Closed-loop Systemmentioning

confidence: 99%

“…With regard to these problems, significant amount of research has been devoted to achieving better performance for the trajectory tracking of quadrotors. Different strategies have been proposed, including proportional-integralderivative (PID), the backstepping method, sliding mode control, fuzzy algorithm, and the adaptive control method [7][8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

“…Coordinate systems for quadrotor UAVs According to Newton mechanics and the Newton-Lagrange equation, dynamic equations of the quadrotor with respect to the inertial coordinates can be generally expressed as[4][5][6]12] …”

mentioning

confidence: 99%

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An Online Adaptive Control Strategy for Trajectory Tracking of Quadrotors Based on Fuzzy Approximation and Robust Sliding Mode Algorithm

Lü

2020

IEEE Access

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In this paper, an online adaptive control strategy is proposed for the accurate trajectory tracking of quadrotor unmanned aerial vehicles (UAVs) under time-varying model uncertainties and external disturbances. A robust sliding mode controller was developed for the outer-loop position subsystem to guarantee robust tracking performance even under disturbance. For the inner-loop attitude subsystem, an online adaptive controller was designed, which integrated the fuzzy and SMC into one unified system. Critically, its parameters were simultaneously identified and adjusted in real-time. These sub-control systems were then integrated into a unified closed-loop system. Its uniform stability was then analyzed and strictly proofed. Case studies demonstrated the effectiveness of our proposed strategy, along with its superior control performance when compared with several commonly used methods.

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Section: Attitude Controller Designmentioning

confidence: 99%

Section: Stability Analysis Of Closed-loop Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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An Online Adaptive Control Strategy for Trajectory Tracking of Quadrotors Based on Fuzzy Approximation and Robust Sliding Mode Algorithm

Lü

2020

IEEE Access

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“…Thus, the dynamic modeling and transition corridor of the UAVs will be investigated. Zhang Juqiang [10] proposed an adaptive fuzzy-based global sliding mode control strategy for quadrotor UAVs in robust trajectory tracking against parameter uncertainties and external disturbances. Sepehr P. Khaligh [11] provided an inverse kinematic solution for the main rotor actuating mechanism of a small-scale helicopter that includes a four-point swashplate system and a Bell-Hiller mixer and the tail rotor actuating mechanism are derived using an approach that is suitable for real-time control applications.…”

Section: Literature Surveymentioning

confidence: 99%

Research on Dynamic Modeling and Transition Flight Strategy of VTOL UAV

2019

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A vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) can meet both VTOL and horizontal flight performance, but how to achieve a safe and stable transition is a research focus of this type of aircraft. According to the overall configuration characteristics of VTOL UAV, aerodynamic models of lift fan, lift duct and induced wing surface of VTOL UAV were established. Three flight modes of induced VTOL UAV are studied, including hover, transition and horizontal flight. The method of longitudinal flight balance of UAV in transition mode is also studied. Finally, a UAV is taken as an example to conduct the research of transition flight mode balancing and flight simulation with the method presented in this paper. The results show that the proposed method can reasonably give the control quantity and longitudinal attitude of UAV in the whole transition mode, so that the UAV can achieve a steady transition flight.

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Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance

Chen

Liu

Luo

2021

Lecture Notes in Electrical Engineering

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Adaptive fuzzy global sliding mode control for trajectory tracking of quadrotor UAVs

Cited by 73 publications

References 62 publications

An Online Adaptive Control Strategy for Trajectory Tracking of Quadrotors Based on Fuzzy Approximation and Robust Sliding Mode Algorithm

An Online Adaptive Control Strategy for Trajectory Tracking of Quadrotors Based on Fuzzy Approximation and Robust Sliding Mode Algorithm

Research on Dynamic Modeling and Transition Flight Strategy of VTOL UAV

Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance

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