Trajectory tracking for a quadrotor under wind perturbations: sliding mode control with state-dependent gains

Abstract

The problem of position tracking of a mini drone subject to wind perturbations is investigated. The solution is based on a detailed unmanned aerial vehicle (UAV) model, with aerodynamic coefficients and external disturbance components, which is introduced in order to better represent the impact of the wind field. Then, upper bounds of wind-induced disturbances are characterized, which allow a sliding mode control (SMC) technique to be applied with guaranteed convergence properties. The peculiarity of the considered case is that the disturbance upper bounds depend on the control amplitude itself (i.e. the system is nonlinear in control), which leads to a new procedure for the control tuning presented in the paper. The last part of the paper is dedicated to the analysis and reduction of chattering effects, as well as investigation of rotor dynamics issues. Conventional SMC with constant gains, proposed first order SMC, and proposed quasi-continuous SMC are compared. Nonlinear UAV simulator, validated through indoor experiments, is used to demonstrate the effectiveness of the proposed controls.

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

“…To ensure flight safety, the attitude angles of the quadrotor are always kept small purposely during the flight. 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:…”

Multi-Objective Predictive Control Optimization with Varying Term Objectives: A Wind Farm Case Study

“…with || 2 denoting the norm and for the simplified dynamics of a quadrotor, the matrix Ω a is invertible and the solution is feasible and stable [47,48].…”

State Damping Control: A Novel Simple Method of Rotor UAV With High Performance

“…The one is this method has to know the accurate mathematic model of RUAV which is hard to obtain, the other is the complicity to get the control law for numerous matrixes, fractional power, and derivatives calculations. In [16], quasicontinuous SMC is used to control a real quadrotor in the presence of whole aerodynamics and electrodynamics. The controller in [16] is robust, but the process to obtain full aerodynamic coefficients is rather difficult.…”

“…In [16], quasicontinuous SMC is used to control a real quadrotor in the presence of whole aerodynamics and electrodynamics. The controller in [16] is robust, but the process to obtain full aerodynamic coefficients is rather difficult. The authors in [16] spend almost four years to obtain aerodynamic coefficients and their parameters cannot be used to another RUAV.…”

“…The controller in [16] is robust, but the process to obtain full aerodynamic coefficients is rather difficult. The authors in [16] spend almost four years to obtain aerodynamic coefficients and their parameters cannot be used to another RUAV. In [38], the SMC controller is compared with the PID and Backstepping method.…”