Sliding-Mode Controller Design for a Mini-UAV with Propellers

Abstract

In this paper, we propose a sliding-mode controller for a mini unmanned aerial vehicle (UAV) with propellers to follow the predetermined attitude trajectory. First the vehicle attitude dynamic model is established for angular displacements and for angular velocities, respectively. Next a sliding-mode controller with a switching surface is designed to eliminate uncertainties and disturbances. Then the attitude tracking control of a mini-UAV using the proposed control strategy is illustrated while flight. Finally, we employ the Lyapunov stability theory to fulfill the stability analysis of the proposed controller for the overall nonlinear control system. Extensive simulation results are gained to validate the effectiveness of the proposed sliding-mode controller.

Integral backstepping control for trajectory and yaw motion tracking of quadrotors

“…Also, fḟ are derived by integratingf in Eq. (19) with the initial conditions f (0) = mg andḟ (0) = 0, which indicates that the motion starts from rest. Note that, it is possible to estimate f (0) andḟ (0) using Eqs.…”

“…18, and the surge force f derived through double integration of Eq. (19) asymptotically stabilize the quadrotor tracking errors and guarantee that P(t ) → P r (t ) as t → ∞.…”

“…Proof. Assuming that the mass and geometric properties are exactly known, the control law presented by (17)- (19) cancels the nonlinear dynamic terms of the last state equation in (10). After substitution for the control laws and change of states represented by Eqs.…”

“…There are many methods that rely on small angle assumption or a simplified version of rotational equations of motion [8][9][10][11][12][13][14][15][16][17] or consider attitude stabilization only. [18][19][20][21] Linear adaptive and disturbance rejection based controllers have also been effective. 22,23 However, quadrotors are inherently nonlinear and thus require nonlinear control techniques.…”

Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV

“…On the other hand, in [ 17 ], a twin controller approach that consists of a backstepping controller to control the nonlinear dynamics of the system and linguistic logic rules of a fuzzy logic controller (Mamdani) is used to control the attitude of tilt of a tri-rotor UAV. In [ 18 ] a dual controller approach with an adaptive fuzzy sliding mode controller is used to control the mini UAV, in which sliding mode control is utilized to control the nonlinear behavior of the UAV, and then fuzzy logic rules are implemented on it. The hybrid controller approach was also addressed in [ 19 ] in which a fuzzy-PID controller with a PSO algorithm is applied on tri-rotor dynamics.…”