Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter

被引:86
作者
Ullah, Safeer [1 ]
Mehmood, Adeel [1 ]
Khan, Qudrat [2 ]
Rehman, Sakhi [3 ]
Iqbal, Jamshed [4 ,5 ]
机构
[1] COMSATS Univ, Dept Elect & Comp Engn, Islamabad, Pakistan
[2] COMSATS Univ, Ctr Adv Studies Telecommun, Islamabad, Pakistan
[3] Univ Sci & Technol, Dept Elect Engn, Bannu, Pakistan
[4] Univ Jeddah, Dept Elect & Elect Engn, Jeddah, Saudi Arabia
[5] FAST Natl Univ Comp & Emerging Sci, Dept Elect Engn, Islamabad, Pakistan
关键词
Backstepping; integral sliding mode control; quadcopter; under-actuated; unmanned aerial vehicle; QUADROTOR; SYSTEM; OBSERVER;
D O I
10.1007/s12555-019-0302-3
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, a robust backstepping integral sliding mode control (RBISMC) technique is designed for the flight control of a quadcopter, which is an under-actuated nonlinear system. First, the mathematical model of this highly coupled and under-actuated system is described in the presence of dissipative drag forces. Second, a robust control algorithm is designed for the derived model to accurately track the desired outputs while ensuring the stability of attitude, altitude and position of the quadcopter. A step by step mathematical analysis, based on the Lyapunov stability theory, is performed that endorses the stability of both the fully-actuated and under-actuated subsystems of the aforementioned model. The comparison of proposed RBISMC control algorithm, with fraction order integral sliding mode control (FOISMC), affirms the enhanced performance in terms of faster states convergence, improved chattering free tracking and more robustness against uncertainties in the system.
引用
收藏
页码:1671 / 1678
页数:8
相关论文
共 20 条
[1]  
Ajwad S A, 2018, CYBERNET SYST, P1
[2]  
[Anonymous], 2007, DESIGN CONTROL QUADR
[3]   Full control of a quadrotor [J].
Bouabdallah, Samir ;
Siegwart, Roland .
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, :153-158
[4]  
Cowling Ian D., 2007, Proceedings of the European Control Conference 2007 (ECC), P4001
[5]   Analytical Design and Stability Analysis of the Universal Integral Regulator Applied in Flight Control [J].
Diaz-Mendez, Yohan ;
de Sousa, Marcelo S. ;
Gomes, Guilherme ;
Cunha, Sebastiao ;
Ramos, Alexandre .
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2019, 17 (02) :391-404
[6]   Integral sliding mode control of a quadrotor with fractional order reaching dynamics [J].
Efe, Mehmet Onder .
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2011, 33 (08) :985-1003
[7]   Advanced sliding mode control techniques for Inverted Pendulum: Modelling and simulation [J].
Irfan, Saqib ;
Mehmood, Adeel ;
Razzaq, Muhammad Tayyab ;
Iqbal, Jamshed .
ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH, 2018, 21 (04) :753-759
[8]   Robust block second order sliding mode control for a quadrotor [J].
Luque-Vega, L. ;
Castillo-Toledo, B. ;
Loukianov, Alexander G. .
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2012, 349 (02) :719-739
[9]   Flight and Hover Control System Design for a Mini-quadrotor Based on Multi-sensors [J].
Ma, Zhongli ;
Li, Huixin ;
Gu, Yanming ;
Li, Zuoyong ;
Li, Qianqian .
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2019, 17 (02) :486-499
[10]   Robust Trajectory Tracking for Unmanned Aircraft Systems using a Nonsingular Terminal Modified Super-Twisting Sliding Mode Controller [J].
Munoz, Filiberto ;
Espinoza, Eduardo S. ;
Gonzalez-Hernandez, Ivan ;
Salazar, Sergio ;
Lozano, Rogelio .
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2019, 93 (1-2) :55-72