Adaptive robust sliding mode controller design for full control of quadrotor with external disturbances

Abstract

This paper proposes two different adaptive robust sliding mode controllers for attitude, altitude and position control of a quadrotor. First it proposes a backstepping non-singular terminal sliding mode control with adaptive algorithm which applied to the quadrotor for free chattering, finite time convergences and robust aims. In this control scheme instead of regular control input, the derivative of the control input is achieved from non-singular terminal second-layer sliding surface. And 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. Second nonlinear disturbance observer based on integral sliding mode with adaptive gains is proposed for position control which is known as 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.

Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey

“…Future researchers can extend this work by augmenting SMC to remove chattering and by achieving finite time convergence. Another adaptive study has been presented in [101] and uses TSMC. This work offers finite time convergence of the inner loop error dynamics along with adaption for bounded uncertain plant parameters.…”

Second order sliding mode controllers for altitude control of a quadrotor UAS: Real-time implementation in outdoor environments

“…An Integral Backstepping control combined with adaptive terminal sliding mode to control the attitude of the quadrotor, and an adaptive robust PID controller is designed for the position control was developed in [14]. In [15] a backstepping method combined with sliding mode control for the position and orientation is applied for the subsystems of altitude, latitudinal and longitudinal, and heading control.…”

Altitude Robust Control of a Quad rotor aircraft using Integral Sliding Mode controller

“…Since altitude control concerns only the displacement in the z-axis one can consider the following reduced model described in (7), where (9) or we can have the following state space variable set, (10) Now, the design problem is to enforce the behavior of the system states towards the desired trajectories which are known. Denote the reference trajectories by and which is velocity and altitude desired respectively.…”

“…When working a particular application, the engineer will need to employ the tools that are most appropriate for the problem in hand. Different control methods mostly designed for a quad-rotor aircraft are: nested saturations [13], feedback linearization [15,16], backstepping [17] and sliding mode control [5][6][7][8][9][10][11][12]. Some other methods also used for linearized model of quad-rotor aircraft in literature such as PID and LQR control [19].…”