Robust tracking output-control for a quad-rotor: A continuous sliding-mode approach

Ríos, Héctor; González‐Sierra, Jaime; Dzul, A.

doi:10.1016/j.jfranklin.2017.08.024

Cited by 42 publications

(13 citation statements)

References 22 publications

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“…where m is the mass of quadrotor. In summary, applying Newton's second law, the translational dynamics of the quadrotor UAV subjected to external disturbance can be obtained by (2)-(9) [14,27].…”

Section: Mathematical Model Of Quadrotor Uavmentioning

confidence: 99%

“…us, it follows from (15) [39]. In consequence, the rotational dynamics of the quadrotor subjected to external disturbance [14,27] can be derived from 14:…”

Section: Complexitymentioning

confidence: 99%

“…Furthermore, a global fast dynamic TSMC technique is introduced in [26] to address nite-time tracking control of a quadrotor system. Ríos et al and Basci et al [27,28] develop a continuous SMC approach to deal with the robust output tracking control problem for a quadrotor. In addition, a fractional-order SMC scheme has been suggested to stabilize the attitude of quadrotors [29,30].…”

Section: Introductionmentioning

confidence: 99%

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Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Huang

Wang

et al. 2019

Complexity

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In this paper, a robust adaptive sliding mode control scheme is developed for attitude and altitude tracking of a quadrotor unmanned aerial vehicle (UAV) system under the simultaneous effect of parametric uncertainties and consistent external disturbance. The underactuated dynamic model of the quadrotor UAV is first built via the Newton–Euler formalism. Considering the nonlinear and strongly coupled characteristics of the quadrotor, the controller is then designed using a sliding mode approach. Meanwhile, additional adaptive laws are proposed to further improve the robustness of the proposed control scheme against the parametric uncertainties of the system. It is proven that the control laws can eliminate the altitude and attitude tracking errors, which are guaranteed to converge to zero asymptotically, even under a strong external disturbance. Finally, numerical simulation and experimental tests are performed, respectively, to verify the effectiveness and robustness of the proposed controller, where its superiority to linear quadratic control and active disturbance rejection control has been demonstrated clearly.

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Section: Mathematical Model Of Quadrotor Uavmentioning

confidence: 99%

“…us, it follows from (15) [39]. In consequence, the rotational dynamics of the quadrotor subjected to external disturbance [14,27] can be derived from 14:…”

Section: Complexitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Huang

Wang

et al. 2019

Complexity

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“…Although the adaptive law is clearly proven by Lyapunov stability and good adaptation, the chattering phenomenon still exists in the control system because the main approach of these controllers is based on the adaptive gain of a switching control law. The authors of [18] described the continuous SMC to strictly track a desired trajectory under the disturbance environment for a quadrotor. A sliding mode observer and cascaded continuous SMC are used for the altitude, yaw tracking control and horizontal tracking control, respectively.…”

Section: Related Workmentioning

confidence: 99%

Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

Thanh

Hong

2019

Electronics

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This paper introduces a robust dynamic sliding mode control algorithm using a nonlinear disturbance observer for system dynamics. The proposed method is applied to provide a rapid adaptation and strictly robust performance for the attitude and altitude control of unmanned aerial vehicles (UAVs). The procedure of the proposed method consists of two stages. First, a nonlinear disturbance observer is applied to estimate the exogenous perturbation. Second, a robust dynamic sliding mode controller integrated with the estimated values of disturbances is presented by a combination of a proportional–integral–derivative (PID) sliding surface and super twisting technique to compensate for the effect of these perturbations on the system. In addition, the stability of a control system is established by Lyapunov theory. A numerical simulation was performed and compared to recently alternative methods. An excellent tracking performance and superior stability of the attitude and altitude control of UAVs, exhibiting a fast response, good adaptation, and no chattering effect in the simulation results proved the robustness and effectiveness of the proposed method.

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“…3,4 In the past few years, various control methods have been proposed in the literature for the quadrotor system. They can be categorized as the following areas: linear methods for stabilization and control of quadrotor based on proportional-integral-derivative (PID) structures, linear quadratic regulator and optimal controllers, 5-8 robust control methods, [9][10][11][12][13][14][15][16] adaptive controllers, [17][18][19][20][21] and, also, nonlinear methods such as feedback linearization, 22 backstepping, [23][24][25] and sliding-mode control methods [26][27][28][29][30][31][32] have been applied to the quadrotor system to enhance its control and stability properties.…”

Section: Introductionmentioning

confidence: 99%

A novel hybrid model predictive control design with application to a quadrotor helicopter

Jalili

Rezaie

Rafiee

2018

Optim Control Appl Methods

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Summary In this paper, a novel control design strategy based on a hybrid model predictive control in combination with fuzzy logic control is presented for a quadrotor helicopter system. In the proposed scheme, a 2‐part control structure is used. In the first part, a linear model predictive controller with receding horizon design strategy is combined with a nonlinear model predictive controller, which is applied as the main controller. In the second part, a 2‐level fuzzy logic controller is utilized to assist the first controller when the error exceeds a predefined value. The proposed nonlinear predictive control method utilizes a novel approach in which a prediction of the future outputs is used in the modeling stage. Using this simple technique, the problem can be solved using linear methods and, thereby, due to considerable reduction in the computational cost, it will be applicable for the systems with fast dynamics. Moreover, the fuzzy logic controller is used as a supervisor to adjust a proportional‐integral‐derivative controller to enhance the system performance by decreasing the tracking error. The proposed scheme is applied to a model of quadrotor system such that the difference between the predicted output of the system and the reference value is minimized while there are some constraints on inputs and outputs of the nonlinear quadrotor system. Simulation results demonstrate the efficiency of the proposed control scheme for the quadrotor system model.

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Robust tracking output-control for a quad-rotor: A continuous sliding-mode approach

Cited by 42 publications

References 22 publications

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

A novel hybrid model predictive control design with application to a quadrotor helicopter

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