Lateral guidance and control of UAVs using second-order sliding modes

Ali, Syed Ussama; Samar, Raza; Shah, M. Zamurad; Bhatti, Aamer Iqbal; Munawar, Khalid; Al-Sggaf, Ubaid M.

doi:10.1016/j.ast.2015.11.033

Cited by 28 publications

(9 citation statements)

References 28 publications

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“…(2) The constant parameters of the two compared tracking control approaches are given in Table 2. (2); γ α (3) 140; 20; 15 γ α (4); γ α (5); γ α (6) 80; 20; 10 γ µ (1); γ µ (2); γ µ (3) 178; 145; 110 γ µ (4); γ µ (5); γ µ (6) 64; 92; 80 γ η (1); γ η (2); γ η (3) 70; 20; 25 γ η (4); γ η (5); γ η (6) 65; 10; 5 γ g (1); γ g (2) 0.0011; 0.0014 0.0011; 0.0014 γ g (3); γ g (4) 0.0016; 0.0012 0.0016; 0.0012 γ g (5); γ g (6) 0.0015; 0.0015 0.0015; 0.0015 In comparison with the CMTC, the PTCM shows the best tracking control performance. This superiority of the PTCM in ensuring the desired objective of control despite unknown dynamics, parameter variations, unknown disturbances, and unknown physical parameters of the studied quadrotor is due to both of its features, namely (1) optimal estimation of unknown dynamics, and (2) a great efficiency in rejecting all disturbances that influence the system robustness.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Over the last decade, several robust approaches have been proposed for the control of unmanned aerial vehicles (UAVs), most of which use intelligent and robust control approaches such as fuzzy logic control (FLC), the H∞ technique, sliding mode control (SMC), the backstepping technique, and adaptive control [1][2][3][4][5][6][7][8]. The quadrotor is among the most popular UAVs and is widely used in many applications such as surveillance, air mapping, inspection, aerial cinematography, rescue missions, search missions in hostile environments, etc.…”

Section: Introductionmentioning

confidence: 99%

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Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics

et al. 2018

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In this study, we develop a rigorous tracking control approach for quadrotor unmanned aerial vehicles (UAVs) with unknown dynamics, unknown physical parameters, and subject to unknown and unpredictable disturbances. In order to better estimate the unknown functions, seven interval type-2-adaptive fuzzy systems (IT2-AFSs) and five adaptive systems are designed. Then, a new IT2 adaptive fuzzy reaching sliding mode system (IT2-AFRSMS) which generates an optimal smooth adaptive fuzzy reaching sliding mode control law (AFRSMCL) using IT2-AFSs is introduced. The AFRSMCL is designed a way that ensures that its gains are efficiently estimated. Thus, the global proposed control law can effectively achieve the predetermined performances of the tracking control while simultaneously avoiding the chattering phenomenon, despite the approximation errors and all disturbances acting on the quadrotor dynamics. The adaptation laws are designed by utilizing the stability analysis of Lyapunov. A simulation example is used to validate the robustness and effectiveness of the proposed method of control. The obtained results confirm the results of the mathematical analysis in guaranteeing the tracking convergence and stability of the closed loop dynamics despite the unknown dynamics, unknown disturbances, and unknown physical parameters of the controlled system.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics

et al. 2018

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“…According to the authors, it presents a good performance in the presence of wind and parametric uncertainty. In [7] the controller presented in [72] is improved by implementing a Partially-IGC strategy that includes a sliding mode control on the inner and the outer loops using a non-linear sliding surface based on Second Order Sliding Mode (SOSM ) control theory. Experimental tests compare the conventional SGC approach and the proposed Partially-IGC approach to show that the second one presents a faster convergence of the cross-track error toward zero.…”

Section: Sliding Mode Controlmentioning

confidence: 99%

A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors

Rubí

Pérez

Morcego

2019

J Intell Robot Syst

103

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The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference position is tracked. The path following approach removes any time dependence of the problem, resulting in many advantages on the control performance and design. An exhaustive review of path following algorithms applied to quadrotor vehicles has been carried out, the most relevant are studied in this paper. Then, four of these algorithms have been implemented and compared in a quadrotor simulation platform: Backstepping and Feedback Linearisation control-oriented algorithms and NLGL and Carrot-Chasing geometric algorithms.

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“…This approach is reputed by its effectiveness to control dynamic systems, notably HOSMs [7], [8] which ensure a finite time convergence and reduce chattering which is the principal inconvenient of the SM controllers [9], [10]. In aircraft control, most of the works that use HOSM focus on the Second Order Sliding Mode (SOSM) [11], [12]. Among them, we cite STW algorithm that is reputed for its robustness and finite time convergence [13].…”

Section: Introductionmentioning

confidence: 99%

Second Order Sliding Mode Control Using Homogeneity Approach to Control a Fixed-Wing UAV

Melkou¹,

Hamerlain²

2019

IJCEE

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The purpose of this paper consists of developing a robust control law for a fixed wing Unmanned Aerial Vehicle (UAV). To reach such a goal, a homogeneous continuous super twisting algorithm is used to solve the problem of attitude control for an aircraft model known by its nonlinearity and its strong coupling. Being a class of high order sliding mode (HOSM) control, super twisting algorithm (STW) allows finite time output convergence and chattering minimization for systems having relative degree equal to one. Hence, the use of homogeneity that allows the implementation of HOSM to control systems that have relative degree greater than one. Simulation results are shown to demonstrate the robustness of the proposed controller.

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Lateral guidance and control of UAVs using second-order sliding modes

Cited by 28 publications

References 28 publications

Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics

Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics

A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors

Second Order Sliding Mode Control Using Homogeneity Approach to Control a Fixed-Wing UAV

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