Parametric uncertainties and coupled nonlinear dynamics are inherent in quadrotor configuration and infer adaptive nonlinear approaches to be used for flight control system. Numerous adapt...

Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey

A review of quadrotor: An underactuated mechanical system

Position and attitude control of multi-rotor aerial vehicles: A survey

In this study, the fully-actuated dynamic equation of quad-rotor as a type of Unmanned Aerial Vehicles (UAVs) is considered in the existence of input-delay, model uncertainty and wind disturbance. Then, a super-twisting terminal sliding mode control approach is planned with the aim of the finite-time attitude and position tracking of quad-rotor UAV considering input-delay, model uncertainty and wind disturbance. The finite time convergence of the tracking trajectory of quad-rotor is proved by Lyapunov theory concept. When the upper bound of the modeling uncertainty and wind disturbance is supposed to be unknown, an adaptive super-twisting terminal sliding mode control is proposed. Therefore, the unknown bounds of the model uncertainty and wind disturbance affecting the quad-rotor UAV are estimated using the adaptive-tuning control laws. Finally, simulation outcomes and experimental verifications are provided to demonstrate the validation and success of planned control technique.

Desired tracking of delayed quadrotor UAV under model uncertainty and wind disturbance using adaptive super-twisting terminal sliding mode control

This paper proposes an auto-tuning adaptive proportional-integral-derivative control (APIDC) system for attitude and position stabilization of quadrotor unmanned aerial vehicle (UAV) under parameter uncertainties and external disturbances. By employing sliding mode control as the adaptive mechanism, this technique can overcome the manual controller’s re-tuning gains in a proportional-integral-derivative controller. Furthermore, a fuzzy compensator is used to eliminate the chattering phenomena caused by the sliding mode control. The auto-tuning process is based on the gradient descent technique and the Lyapunov stability theorem. Using simulations, the proposed APIDC scheme is able to achieve a satisfactory attitude and position tracking performance of the quadrotor UAV. The proposed APIDC system also shows high robustness under parameter uncertainties and external disturbances.

Guobao Zhang

Papers

Discrete-time sliding mode control for a quadrotor UAV