Nonsingular terminal sliding mode control for a quadrotor UAV with a total rotor failure

This paper presents a reliable and novel quadrotor flight control system designed to enhance trajectory tracking performance, robustness and adaptiveness against the uncertain parameters and the external wind disturbance. By combining a recursive control methodology with a robust control algorithm, a finite-time adaptive integral backstepping fast terminal sliding mode control is designed for major control loops related to position tracking and attitude stabilization. To estimate quadrotor mass and inertia moments, only four adaptation laws are developed. To compensate the unknown upper bound on the disturbances, a robust and adaptive switching gain is designed. The designed controller guarantees that all the closed signals are semi-global practical finite-time stability while the tracking error converges to a small neighborhood of the origin. The obtained numerical results and comparison studies show the effectiveness, robustness, adaptiveness and energy efficiency of the proposed flight control system.

Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV

In this paper, an adaptive fuzzy-based global sliding mode control strategy is proposed for quadrotor unmanned aerial vehicles (UAVs) in robust trajectory tracking against parameter uncertainties and external disturbances. Compared with the conventional sliding mode control, the reaching phase and the control chattering are eliminated in the control scheme, and requirements of the upper bound of the uncertainties are removed. More specifically, in order to counteract the disturbances, the fuzzy system with multiple-input variables and continuous membership functions is adopted rather than the switching term, which softens the control signals greatly. Besides, the use of specific singletons membership functions for the multiple-output fuzzy sets simplifies the defuzzification and reduces the computation burden significantly. Additionally, an adaptive tuner is employed, and the optimal control efforts can be achieved. Finally, comparative flight performances under different controllers for the quadrotor UAVs are demonstrated to verify the effectiveness and superiority of the proposed control approach.

Adaptive fuzzy global sliding mode control for trajectory tracking of quadrotor UAVs

The purpose of this paper is to solve the problem of controlling of the quadrotor exposed to external constant disturbances. The quadrotor system is partitioned into two parts: the attitude subsystem and the position subsystem. A new robust integral terminal sliding mode control law (RITSMC) is designed for stabilizing the inner loop and the quick tracking of the right desired values of the Euler angles. To estimate the disturbance displayed on the - axis and to control the altitude position subsystem, an adaptive backstepping technique is proposed, while the horizontal position subsystem is controlled using the backstepping approach. The stability of the quadrotor subsystems is guaranteed by the Lyapunov theory. The effectiveness of the proposed methods is clearly comprehended through the obtained results of the various simulations effectuated on MATLAB/Simulink, and a comparison with another technique is presented.

/pdf/robust-integral-terminal-sliding-mode-control-for-quadrotor-x3ruhb0ljt.pdf

Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances

As one type of unmanned aerial vehicles, the quadrotor typically suffers from payload variations, system uncertainties, and environmental wind disturbances, which significantly deteriorate its attitude control performance. To provide high-speed, accurate, and robust attitude tracking performance for the quadrotor, an adaptive fast nonsingular terminal sliding mode (AFNTSM) controller is proposed in this article. The proposed AFNTSM controller combines the advantages of fast nonsingular terminal sliding mode (FNTSM), integral sliding mode, and adaptive estimation techniques, which are effective to achieve the desired tracking performance and suppress control signal chattering. Furthermore, unlike conventional methods, the adaptive estimation removes the requirements for the upper bound information of the disturbances. It is proved that the proposed AFNTSM can guarantee finite-time convergence and zero tracking error for the quadrotor attitude control. Finally, comparative study with the FNTSM control only and conventional sliding mode control is conducted through experiments and the results demonstrate that the proposed AFNTSM can achieve faster convergence and stronger robustness in line with theoretical analysis.

Mohsen Vahdanipour

Papers

Adaptive fractional order sliding mode control for a quadrotor with a varying load

Adaptive fractional-order back stepping control for tracking and estimation of moment of inertia matrix of a quadrotor