Variable pitch control of a quadrotor using adaptive sliding mode controller

Mosalsal, Maryam; Khodabandeh, Mahdi

doi:10.1108/aeat-03-2022-0072

Cited by 9 publications

(6 citation statements)

References 31 publications

(37 reference statements)

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“…An adaptive super-twisting non-singular terminal sliding mode controller has been implemented in [27,84] for a three-degree-of-freedom quadrotor with uncertain bounded disturbances. A disturbance observer (DO) based SMC is proposed in [24,85].…”

Section: Sliding Mode Control (Smc)mentioning

confidence: 99%

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Singh,

Kumar,

Kumar

2023

FME Transactions

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The Quadrotor Unmanned Aerial Vehicles (UAVs) have gained significant attention in recent years due to their versatile applications in civilian and military sectors. It is a highly nonlinear and underactuated system and an outdoor flight; it is always subjected to external disturbances due to wind gusts and other environmental factors. Implementing the control strategies could be improved in terms of high computational time, uncertainty, approximation error, and a large amount of training data. One of the major challenges in the development of quadrotors is the design of an efficient and reliable control system. This paper presents a comprehensive review of various control strategies for quadrotors and evaluates their performance. The review includes classical control techniques such as PID (Proportional-Integral-Derivative) and LQR (Linear Quadratic Regulator) and modern control strategies such as adaptive and fuzzy control. Comparative analysis of various control strategies has been presented with key challenges and future directions. This study provides a useful guide for researchers and engineers in the design of control systems for quadrotors.

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Section: Sliding Mode Control (Smc)mentioning

confidence: 99%

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Singh,

Kumar,

Kumar

2023

FME Transactions

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“…In contrast to the conventional maneuver, the airflow attached to the surface of the aircraft is in the form of attached flow, swirling flow, swirl broken and separated flow in turn during the PSPM (Lyu et al , 2017), which leads to serious unsteady aerodynamic disturbances (UADs) and further affects the robustness of the PSPM system. To enhance the robustness, some methods, such as neural network (NN) (Gong et al , 2020; Ullah et al , 2022), sliding mode control (Mosalsal and Khodabandeh, 2022; Cheng et al , 2022b), extended state observer (Yuan et al , 2019; Ferdjali et al , 2022) and disturbance observer (Ma et al , 2021; Zhang et al , 2021c), have been developed, which are also used for the control of the PSPM (Zhou et al , 2017; Liu et al , 2020; Zhang et al , 2019; Wu et al , 2020). In addition, many studies related to the UADs model have been conducted to improve the performance of the PSPM further.…”

Section: Introductionmentioning

confidence: 99%

Robust backstepping control for maneuver aircraft based on event-triggered mechanism and nonlinear disturbance observer

Shen

2023

AEAT

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Purpose This study aims to achieve the post-stall pitching maneuver (PSPM) and decrease the deflection frequency of aircraft actuators controlled by the robust backstepping method based on event-triggered mechanism (ETM), nonlinear disturbance observer (NDO) and dynamic surface control (DSC) techniques. Design/methodology/approach To estimate unsteady aerodynamic disturbances (UADs) to suppress their adverse effects, the NDO is designed. To avoid taking the derivative of the virtual control law directly and eliminate the coupling term of the system states and dynamic surface errors in the stability analysis, an improved DSC is developed. Combined with the NDO and DSC techniques, a robust backstepping method is proposed to achieve the PSPM. Furthermore, to decrease the deflection frequency of the aircraft actuators, a state-dependent ETM is introduced. Findings An ETM-and-NDO-based backstepping method with an improved DSC technique is developed to achieve the PSPM and decrease the deflection frequency of aircraft actuators. And simulation results are presented to verify the effectiveness of the proposed paper. Originality/value Few studies have been conducted on the control of the PSPM in which the lateral and longitudinal attitude dynamics are coupled with each other considering the UADs. Moreover, the mechanism that can decrease the deflection frequency of aircraft actuators is rarely developed in existing research. This study proposes an ETM-and-NDO-based backstepping scheme to address these problems with satisfactory performance of the PSPM.

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“…The strategy is simple in design and easy to implement and has been widely applied to the fixed-point hovering and trajectory tracking of quadrotor UAVs, but its anti-disturbance ability and robustness are not good [3], such as the weak anti-wind disturbance ability in the hovering state. Including the back-stepping method (Back-stepping) [4], [5] and sliding mode variable structure [6]. [7].…”

Section: Introductionmentioning

confidence: 99%

Disturbance feedforward compensation based on Modelica modeling with the Self-immunity study of a quadrotor UAV

ZHOU,

BAO,

LIANG

et al. 2023

Preprint

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Due to the nonlinearity, underactuated, strong coupling, multi-data flow direction, and vulnerability to internal and external disturbances, the widely used PID control technology has been very difficult. Some emerging nonlinear control theory algorithms have good simulation performance, but they rely heavily on exact mathematical models, require a large amount of computation, and take a long time to solve. Therefore, based on the advantages of non-causal declarative modeling in Modelica language, this paper focuses on the analysis and implementation of the mechanism of observation, estimation, and compensation of nonlinear ADRC disturbances, PID-NLADRC linear nonlinear combined control strategy is designed to realize the flight control of a four-rotor UAV. The multi-target applications, such as fixed-point hover, cone spiral trajectory tracking and air obstacle avoidance fillet moment trajectory tracking, are verified respectively. The simulation results show that the designed PID-NLADRC control strategy has better performance than the Cascade PID control strategy in suppressing the fixed-point hover disturbance, it is fully verified that the PID-NLADRC control strategy has a smaller Euclidean range deviation and stronger disturbance rejection ability for tracking trajectories with different properties such as plane or space, smooth or transient, it can better meet the requirements of fast, accurate and robust flight control of four-rotor UAV.

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Variable pitch control of a quadrotor using adaptive sliding mode controller

Cited by 9 publications

References 31 publications

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Robust backstepping control for maneuver aircraft based on event-triggered mechanism and nonlinear disturbance observer

Disturbance feedforward compensation based on Modelica modeling with the Self-immunity study of a quadrotor UAV

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