Adaptive non-singular terminal sliding mode controller: new design for full control of the quadrotor with external disturbances

Abstract

This paper proposes two different adaptive robust sliding mode controllers for attitude, altitude and position control of a quadrotor. Firstly, it proposes a backstepping non-singular terminal sliding mode control with an adaptive algorithm that is applied to the quadrotor for free chattering, finite time convergence and robust aims. In this control scheme instead of regular control input, the derivative of the control input is achieved from a non-singular terminal second-layer sliding surface. An adaptive tuning method is utilized to deal with the external disturbances whose upper bounds are not required to be known in advance in the inner loop. Secondly, a nonlinear disturbance observer based on the integral sliding mode with adaptive gains is proposed for position control, which is known as the outer loop. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. The simulation results demonstrate the validation of the proposed control scheme.

Trajectory tracking control for a quadrotor unmanned aerial vehicle based on dynamic surface active disturbance rejection control

“…So, how to establish a more accurate and complete mathematical model describing the motion of the system, how to simplify the model to meet the requirements of the controller design, and at the same time enable the designed controller to have good robust performance and ensure the UAV stable are basic problems in front of the researchers. In addition, considering the nonlinearity, parameter uncertainty, external disturbance sensitivity and incomplete dynamic modeling of the quadrotor UAV flight control (Barikbin and Fakharian, 2018; Li et al, 2017; Modirrousta and Khodabandeh, 2017), it is an urgent problem for researchers to design what kind of controller can increase the stability of the system and the ability to reject the external disturbances.…”

An internal model frame-based disturbance attenuation control scheme for quad-rotors transporting unknown payloads

“…Quad-rotors are widely utilized for various applications nowadays (Li et al, 2018; Liao et al, 2018; Modirrousta and Khodabandeh, 2017). Among them, payload transportation using quad-rotors (for example, package delivery) has become a daily importance in recent years, such as in Amazon’s and DHL’s drone package delivery programs (Murray and Chu, 2015; Rose, 2013), which can significantly reduce cost in logistics.…”

Finite-Time Control of Multirotor UAVs Under Disturbances

“…It is difficult to implement the developed TSMCs in real flight by several reasons. First, adaptive TSMC, which update gain to estimate upper bound of disturbance adaptively, was developed to eliminate steady state error without information of the upper bound [37], [38]. However, the adaptive gains will increase infinitely, because the noise will be cumulated although states are converged.…”