Auto-landing algorithm for quadrotor UAV using super-twisting second-order sliding mode control in the presence of external disturbances

Danesh, Mohammad; Jalalaei, Amirhossein; Derakhshan, Reza Ebrahimpour

doi:10.1007/s40435-023-01139-z

Cited by 6 publications

(3 citation statements)

References 34 publications

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“…A variety of control methods have been employed for multirotor UAVs, including linear control methods such as PID [4], LQR [5], and non‐linear control methods developed to solve the problems associated with linear control methods, including Sliding Mode Control (SMC) and methods based on that [6], Backstepping (BS) [7, 8], Feedback Linearization (FL) [9, 10], as well as methods based on disturbance observers [11, 12].…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer‐based model predictive control of a coaxial octorotor with variable centre of gravity

Derakhshan,

Danesh,

Moosavi

2024

IET Control Theory & Appl

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This paper presents a model predictive control (MPC) approach based on the extended disturbance observer (EDOB) for trajectory tracking of a coaxial octorotor unmanned aerial vehicle (UAV). First, the system dynamic model is derived using Newton–Euler relations in the presence of time‐varying centre of gravity (COG); then, a two‐loop cascade structure is presented to perform the trajectory tracking task. Both loops are controlled using MPC with feedforward compensation based on the EDOB to improve disturbance rejection abilities. When the mass changes, the moment of inertia and COG are affected. The EDOB simultaneously estimates the effects of time‐varying mass, external disturbances, and parametric uncertainties in six degrees of freedom. After obtaining virtual control inputs using designed controllers, constrained control allocation is used to obtain rotors speed in a valid range. The proposed control scheme is evaluated using simulation. The simulation results show the ability of the developed control strategy in accurate trajectory tracking and stable flight in different conditions and being robust to uncertainty and disturbance.

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Section: Introductionmentioning

confidence: 99%

Disturbance observer‐based model predictive control of a coaxial octorotor with variable centre of gravity

Derakhshan,

Danesh,

Moosavi

2024

IET Control Theory & Appl

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“…However, the control signal chattering still needs further improvement and attention when the SMC method is applied in attitude regulation with external disturbances. There are many strategies for reducing the chattering phenomenon of an SMC algorithm [26][27][28][29][30][31], such as the super-twisting algorithm and sigmoid approximation. The first strategy mainly introduces an integral term into the switching function term [28][29][30], which is equivalent to low-pass filtering, so as to make the control signal continuous.…”

Section: Introductionmentioning

confidence: 99%

“…There are many strategies for reducing the chattering phenomenon of an SMC algorithm [26][27][28][29][30][31], such as the super-twisting algorithm and sigmoid approximation. The first strategy mainly introduces an integral term into the switching function term [28][29][30], which is equivalent to low-pass filtering, so as to make the control signal continuous. However, the disadvantage of this strategy is that it needs to select an appropriate integral term coefficient, and the coefficient needs to be adjusted according to the change of the system motion state.…”

Section: Introductionmentioning

confidence: 99%

Deep Deterministic Policy Gradient (DDPG) Agent-Based Sliding Mode Control for Quadrotor Attitudes

Hu,

Yang,

Liu

2024

Drones

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A novel reinforcement deep learning deterministic policy gradient agent-based sliding mode control (DDPG-SMC) approach is proposed to suppress the chattering phenomenon in attitude control for quadrotors, in the presence of external disturbances. First, the attitude dynamics model of the quadrotor under study is derived, and the attitude control problem is described using formulas. Second, a sliding mode controller, including its sliding mode surface and reaching law, is chosen for the nonlinear dynamic system. The stability of the designed SMC system is validated through the Lyapunov stability theorem. Third, a reinforcement learning (RL) agent based on deep deterministic policy gradient (DDPG) is trained to adaptively adjust the switching control gain. During the training process, the input signals for the agent are the actual and desired attitude angles, while the output action is the time-varying control gain. Finally, the trained agent mentioned above is utilized in the SMC as a parameter regulator to facilitate the adaptive adjustment of the switching control gain associated with the reaching law. The simulation results validate the robustness and effectiveness of the proposed DDPG-SMC method.

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Fuzzy Logic Enhanced Second-Order Sliding Mode Controller Design for an Experimental Twin Rotor System Under External Disturbances

Ozer,

Hacioglu,

Yagiz

2024

J. Vib. Eng. Technol.

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Background The twin rotor model is frequently studied by researchers because although it has a basic structure the coupled pitch and yaw motions are adequately represented. However, it is quite difficult to obtain an efficient controller due to external disturbances. Classical sliding mode controller (SMC), which is of first order, is recognized to be robust in case of parameter changes and external disturbances especially when the sliding motion takes place, but it possesses chattering in the control input which may damage the mechanical parts of the system. Purpose In this study it was aimed to design a robust controller without chattering effect which will be used for the control of the twin rotor system in real time experiments. Methods To remedy the chattering issue, a novel fuzzy logic enhanced second-order sliding mode controller (FSOSMC) based on super twisting algorithm is proposed. This controller suppresses chattering while enhancing the robustness of the controller where the sliding surface slope parameter is updated online via a fuzzy logic unit. Then the proposed controller is implemented on an experimental twin-rotor system which has highly nonlinear and coupled dynamics. Results Real time experiments were performed on the twin rotor system using the proposed FSOSMC. For comparison purpose the SMC and second-order sliding mode controller (SOSMC) were also applied to the same system. The results have shown that the proposed controller increased the tracking performance without increasing the control effort while reducing the chattering. Conclusions The experimental results verified the success of the designed FSOSMC, therefore it may be recommended for the robust and precise control of aerial vehicles. Graphical Abstract

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Auto-landing algorithm for quadrotor UAV using super-twisting second-order sliding mode control in the presence of external disturbances

Cited by 6 publications

References 34 publications

Disturbance observer‐based model predictive control of a coaxial octorotor with variable centre of gravity

Disturbance observer‐based model predictive control of a coaxial octorotor with variable centre of gravity

Deep Deterministic Policy Gradient (DDPG) Agent-Based Sliding Mode Control for Quadrotor Attitudes

Fuzzy Logic Enhanced Second-Order Sliding Mode Controller Design for an Experimental Twin Rotor System Under External Disturbances

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