An Adaptive Fast Terminal Sliding-Mode Controller With Power Rate Proportional Reaching Law for Quadrotor Position and Altitude Tracking

Tripathi, Vibhu Kumar; Kamath, Archit Krishna; Behera, Laxmidhar; Verma, Nishchal K.; Nahavandi, Saeid

doi:10.1109/tsmc.2021.3072099

Cited by 31 publications

(12 citation statements)

References 34 publications

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“…Consequently, these control methodologies are deemed more favorable within the realm of high-impact studies. [15] (RP167), [74] (X5), [157] (X6), [80] (X7), [81] (X8), [110] (X9), [158] (X10), [83] (X11), [108] (X12), [149] (X13), [109] (X14), [144] (X15), [150] (X16), [148] (X17).…”

Section: Comparative Discussionmentioning

confidence: 99%

“…Nonsingular types and smoothing functions, such as hyperbolic tangent functions, allow for smooth transitions between control modes and mitigate chattering [121]. In [109], the power-rate proportional reaching law ensured finite-time convergence with reduced chattering. In addition to addressing disturbances and uncertainties, modifications to the SMC have enabled global stability by ensuring the convergence of the system state to the sliding surface from any initial condition through the integral SMC [122] or global SMC [123].…”

Section: Smc and Bk Control Techniquesmentioning

confidence: 99%

“…In addition to addressing disturbances and uncertainties, modifications to the SMC have enabled global stability by ensuring the convergence of the system state to the sliding surface from any initial condition through the integral SMC [122] or global SMC [123]. TSMC [109,121,124] is a popular addition to achieve fast or fixed-time convergence. In a recent study, different types of continuous sliding surfaces were used [125].…”

Section: Smc and Bk Control Techniquesmentioning

confidence: 99%

“…Illustration of the four development stages for quadrotor control leading to actual deployment. Reference numbers are as follows:[145] (X1),[75] (X2),[79] (X3),[15] (RP167),[74] (X5),[157] (X6),[80] (X7),[81] (X8),[110] (X9),[158] (X10),[83] (X11),[108] (X12),[149] (X13),[109] (X14),[144] (X15),[150] (X16),[148] (X17).…”

mentioning

confidence: 99%

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Historical and Current Landscapes of Autonomous Quadrotor Control: An Early-Career Researchers’ Guide

Asignacion,

Satoshi

2024

Drones

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The rising demand for autonomous quadrotor flights across diverse applications has led to the introduction of novel control strategies, resulting in several comparative analyses and comprehensive reviews. However, existing reviews lack a comparative analysis of experimental results from published papers, resulting in verbosity. Additionally, publications featuring comparative studies often demonstrate biased comparisons by either selecting suboptimal methodologies or fine-tuning their own methods to gain an advantageous position. This review analyzes the experimental results of leading publications to identify current trends and gaps in quadrotor tracking control research. Furthermore, the analysis, accomplished through historical insights, data-driven analyses, and performance-based comparisons of published studies, distinguishes itself by objectively identifying leading controllers that have achieved outstanding performance and actual deployment across diverse applications. Crafted with the aim of assisting early-career researchers and students in gaining a comprehensive understanding, the review’s ultimate goal is to empower them to make meaningful contributions toward advancing quadrotor control technology. Lastly, this study identifies three gaps in result presentation, impeding effective comparison and decelerating progress. Currently, advanced control methodologies empower quadrotors to achieve a remarkable flight precision of 1 cm and attain flight speeds of up to 30 m/s.

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Section: Comparative Discussionmentioning

confidence: 99%

Section: Smc and Bk Control Techniquesmentioning

confidence: 99%

Section: Smc and Bk Control Techniquesmentioning

confidence: 99%

mentioning

confidence: 99%

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Historical and Current Landscapes of Autonomous Quadrotor Control: An Early-Career Researchers’ Guide

Asignacion,

Satoshi

2024

Drones

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“…Tripathi VK designed a finite-time super-twisting sliding mode control scheme to assure finite-time convergence of tracking error with chattering attenuation and developed a high-order sliding mode observer to determine unknown bounded lumped disturbances acting on the quadrotor [ 18 ]. In [ 19 ], he also proposed an adaptive fast terminal sliding-mode controller with a power ratio proportional reaching law, which can track the position and altitude of a quadrotor with parametric uncertainties and external disturbances. Razmjooei H presented a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators to track a reference signal in a finite time and employ a positive-increasing function associated with the control/observer objectives to improve the control performance [ 20 ].…”

Section: Related Workmentioning

confidence: 99%

Compliant Contact Force Control for Aerial Manipulator of Adaptive Neural Network-Based Robust Control

Fang,

Mao

2024

Sensors

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Aerial manipulators expand the application scenarios of manipulators into the air. To complete various operations, the contact force between the aerial manipulator and the target must be precisely controlled. In this study, we first established the mathematical models of the multirotor and the manipulator separately. Their mutual influence is regarded as each other’s disturbance, and the overall linkage mechanism is established through analysis. Then, a robust sliding mode control strategy is developed for accurate trajectory tracking. The controller is derived from Lyapunov theory, which can ensure the stability of the closed-loop system. To compensate for the effect of system uncertainty, an adaptive radial basis function neural network is devised to approximate the part of the controller containing the model information. In addition, an impedance controller is designed to convert force control into position control to make the manipulator contact with the target compliantly. Finally, the simulation and experimental results indicate that the proposed method can guarantee the accuracy of the contact force and has good robustness.

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Robust adaptive control law design for enhanced stability of agriculture UAV used for pesticide spraying

Ijaz,

Shi,

Khan

et al. 2024

Aerospace Science and Technology

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An Adaptive Fast Terminal Sliding-Mode Controller With Power Rate Proportional Reaching Law for Quadrotor Position and Altitude Tracking

Cited by 31 publications

References 34 publications

Historical and Current Landscapes of Autonomous Quadrotor Control: An Early-Career Researchers’ Guide

Historical and Current Landscapes of Autonomous Quadrotor Control: An Early-Career Researchers’ Guide

Compliant Contact Force Control for Aerial Manipulator of Adaptive Neural Network-Based Robust Control

Robust adaptive control law design for enhanced stability of agriculture UAV used for pesticide spraying

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