Quadrotor Altitude Control Based on Sliding Mode Control

Abstract

In this manuscript, the design of a continuous super twisting control based on high-order sliding mode observer for a class of nonlinear systems is addressed. An analysis of stability of the system in closed loop with the proposed control-observer scheme is provided by means of Lyapunov approach, where sufficient conditions are given to ensure the convergence in finite time. Furthermore, a comparative study against similar methodologies is provided, where simulation and experimental results illustrate the effectiveness of the proposed scheme for altitude control of a quadrotor aircraft.

Performance Evaluation of a Sliding Mode Control-Kalman Filter-Based Mathematical Model for Altitude and Attitude Control in Quadcopters

“…Altitude and attitude control on the quadcopter is key so that the quadcopter can take off and hover in a stable manner. Several studies have been conducted to create an altitude and attitude control system using the SMC [20]. Control system development continues to be carried out to reduce chattering resulting from the SMC method [21].…”

Robust Finite-Time Tracking Control Based on Disturbance Observer for an Uncertain Quadrotor under External Disturbances

“…However, the removal of the chattering problem, which decreases the system performance, has not been addressed in these papers [20,21]. In order to deal with this issue, the supertwisting (ST) SMC is employed by some researchers for the tracking control of the quadrotor altitude [22]. To estimate the unmeasured signals and enforce the system robustness against external disturbances, the higher order sliding mode observer is also used in this research [22].…”

“…In order to deal with this issue, the supertwisting (ST) SMC is employed by some researchers for the tracking control of the quadrotor altitude [22]. To estimate the unmeasured signals and enforce the system robustness against external disturbances, the higher order sliding mode observer is also used in this research [22]. In the same way, the authors in [23] integrated the ST algorithm, the PID sliding mode control, and the disturbance observer to regulate the quadrotor attitude and altitude.…”

“…In the same way, the authors in [23] integrated the ST algorithm, the PID sliding mode control, and the disturbance observer to regulate the quadrotor attitude and altitude. However, the position tracking control is not considered in these works [22,23]. In reference [24], a compounded control scheme, based on the ST algorithm and the PID sliding mode control, is designed for the position and orientation of the quadrotor system in the existence of sustained and time-varying disturbances.…”

“…In reference [24], a compounded control scheme, based on the ST algorithm and the PID sliding mode control, is designed for the position and orientation of the quadrotor system in the existence of sustained and time-varying disturbances. Although these approaches [20][21][22][23][24] achieved good tracking accuracy with reduced chattering influence, finite-time control has not been considered in these articles. e problem of formation control has been also considered in many research.…”