Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter

Ullah, Sameeh; Mehmood, Adeel; Khan, Qudrat; Rehman, Sakhi; Iqbal, Jamshed

doi:10.1007/s12555-019-0302-3

Cited by 88 publications

(53 citation statements)

References 17 publications

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“…A robust backstepping integral sliding mode control is proposed for the trajectory control of an underactuated and nonlinear quadrotor craft. In the proposed technique [20], one may see the approach is applied on a dynamic model that is derived using Newton Euler method leading to gimbal lock issue again. In addition to this, position errors are also observed.…”

Section: Literature Reviewmentioning

confidence: 99%

Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

et al. 2021

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The underactuated quadrotor unmanned aerial vehicle (UAV) is one of the nonlinear systems that have few actuators as compared to the degree of freedom (DOF); thus, it is a strenuous task to stabilize its attitude and positions. Moreover, an induction of unmodelled dynamic factors and uncertainties make it more difficult to control its maneuverability. In this paper, a model-free based single-dimension fuzzy sliding mode control (MFSDF-SMC) is proposed to control the attitude and positions of underactuated quadrotor UAV. The paper discusses the kinematic and dynamic models with unmodelled dynamic factors and unknown external disturbances. These unmodelled factors and disturbances may lead the quadrotor towards failure in tracking specific trajectory and may also generate some serious transient and steady-state issues. Furthermore, to avoid the problem of gimbal lock, the model is amalgamated with hyperbolic function to resolve the singularity issues dully developed due to Newton Euler’s dynamic modeling. The simulation results performed for MFSDF-SMC using MATLAB software R2020a are compared with conventional sliding mode control, fuzzy-based sliding control and single-dimension fuzzy-based sliding mode control without a model-free approach. The design and implementation of the model-free single dimension-based fuzzy sliding mode control (MFSDF-SMC) with an updated Lyapunov stability theorem is presented in this work. It is observed that MFSDF-SMC produces robust trajectory performance therefore, and the manuscript suggests the experimental setup to test the proposed algorithm in a noisy environment keeping the same conditions. The verification of the equipment used and its effective demonstration is also available for the reader within the manuscript.

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Section: Literature Reviewmentioning

confidence: 99%

Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

et al. 2021

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“…Results of leakage detection and prevention are reported in [142]. As an alternative to climbing robots, recently Unmanned Aerial Vehicles (UAVs) [143], [144] are being used for inspection of solar plants. One such advancement is reported in [145], [146], where a UAV and a thermographic sensor are used for inspection of a Concentrated Solar Power (CSP).…”

Section: B Robots For Installation Assembling and Maintenance Of Solar Panelsmentioning

confidence: 99%

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

et al. 2019

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The domain of Robotics is a good partner of renewable energy and is becoming critical to the sustainability and survival of the energy industry. The multi-disciplinary nature of robots offers precision, repeatability, reliability, productivity and intelligence, thus rendering their services in diversified tasks ranging from manufacturing, assembling, and installation to inspection and maintenance of renewable resources. This paper explores applications of real robots in four feasible renewable energy domains; solar, wind, hydro, and biological setups. In each case, existing state-of-the-art innovative robotic systems are investigated that have the potential to create a difference in the corresponding renewable sector in terms of reduced set-up time, lesser cost, improved quality, enhanced productivity and exceptional competitiveness in the global market. Instrumental opportunities and challenges of robot deployment in the renewable sector are also discussed with a brief case study of Saudi Arabia. It is expected that the wider dissemination of the instrumental role of robotics in renewable energy will contribute to further developments and stimulate more collaborations and partnerships between professionals of robotics and energy communities.INDEX TERMS Applied robotics, automation in renewable energy, mobile robots, robotic manipulators, solar PV module, wind turbines.

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“…Consider the x-subsystem in (1) and the global nonlinear sliding surface (5d), if the control V x is designed as in (12) and the adaptive law is designed as in (11), then state variables of x-subsystem are converged to s 7 (t) = 0 in finite-time.…”

Section: Design Of Agnsmc For Position and Attitude Subsystemmentioning

confidence: 99%

“…The paper highlighted a simple technique for on-line upper bound time-varying external disturbances estimation using only position and velocity measurements. In Ullah et al 11 a robust backstepping integral sliding mode control which enhances the robustness of the controller and alleviates chattering. In Alqaisi et al 12 exponential reaching law sliding mode controller is adopted to target fast response and reduced chattering phenomenon, a three-loop uncertainties compensator is considered to estimate in real-time and mitigate the effects of unknown uncertainties and perturbation.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive global nonlinear sliding mode controller for a quadrotor under external disturbances and uncertainties

Labbadi

Houm

Abbou

et al. 2014

Advances in Mechanical Engineering

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The present paper proposes an adaptive global nonlinear sliding mode controller (AGNSMC) for the tracking problem of a quadrotor subjected to external disturbances. In order to eliminate the reaching phase and to guarantee the sliding mode of the quadrotor states in the initial time, a novel control law is developed. The upper bounds of disturbances affected the quadrotor dynamics are rejected based on adaptive laws for the both attitude and position subsystem. The tracking performance is enhanced by using the suggested controller. The stability of quadrotor is guaranteed and the global sliding mode surfaces converge to origin values in a finite time. To show the robustness of the proposed control approach against the external disturbances, simulation results are presented and compared with the results of the super-twisting-integral sliding mode controller.

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Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter

Cited by 88 publications

References 17 publications

Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

Robust adaptive global nonlinear sliding mode controller for a quadrotor under external disturbances and uncertainties

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