Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization

Noordin, Aminurrashid; Basri, Mohd Ariffanan Mohd; Mohamed, Zainai; Lazim, Izzuddin Mat

doi:10.1007/s13369-020-04742-w

Cited by 75 publications

(60 citation statements)

References 49 publications

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“…In contrast, the technique presented in the paper is based on the BSMC scheme, and is handy in such situations. In addition, Noordin et al (2020) designed an adaptive SMC for quadrotor UAV to achieve tracking control by defining an error between the desired and actual output. However, the control design was based on proportional-integralderivative control scheme which requires the rate of change of the reference angle.…”

Section: Discussionmentioning

confidence: 99%

Robust model reference adaptive backstepping sliding-mode control for quadrotor attitude with disturbance observer

Ahmed

2021

AEAT

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Purpose The purpose of this research paper is to design a disturbance observer-based control based on the robust model reference adaptive backstepping sliding-mode control for attitude quadrotor model subject to uncertainties and disturbances. Design/methodology/approach To estimate and reject the disturbance, a disturbance observer is designed for the exogenous disturbances with perturbation while a control criterion is developed for the tracking of desired output. To achieve the control performance, backstepping and sliding-mode control techniques are patched together to obtain robust chattering-free controller. Furthermore, a model reference adaptive control criterion is also combined with the design of robust control for the estimation and rejection of uncertainties and unmodeled dynamics of the attitude quadrotor. Findings The findings of this research work includes the design of a disturbance observer-based control for uncertain attitude quadrotor system with the ability of achieving tracking control objective in the presence of nonlinear exogenous disturbance with and without perturbation. Practical implications In practice, the quadrotor flight is opposed by different kinds of the disturbances. In addition, being an underactuated system, it is difficult to obtain an accurate mathematical model of quadrotor for the control design. Thus, a quadrotor model with uncertainties and disturbances is inevitable. Hence, it is necessary to design a control system with the ability to achieve the control objectives in the presence of uncertainties and disturbances. Originality/value Designing the control methods for quadrotor control without uncertainties and disturbances is a common practice. However, investigating the uncertain quadrotor plant in the presence of nonlinear disturbances is rarely taken into consideration for the control design. Hence, this paper presents a control algorithm to address the issues of the uncertainties and disturbances as well as investigate a control algorithm to achieve tracking performance.

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Section: Discussionmentioning

confidence: 99%

Robust model reference adaptive backstepping sliding-mode control for quadrotor attitude with disturbance observer

Ahmed

2021

AEAT

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“…For example, in [11], the authors proposed a hybrid model by using a PID controller and an adaptive fuzzy sliding mode for attitude stabilization, the efficiency of the proposed method tested under actuator faults. In [12], a good attitude and position tracking performance were achieved by the adaptive proportional-integral-derivative control (APIDC) system under external disturbances and parameter uncertainties. In [13], the authors showed how the PID controllers would be modified to suit the interference enhanced model when multiple quadcopter control problem is addressed.…”

Section: A Intelligent Pid Algorithmmentioning

confidence: 99%

Attitude and Altitude Nonlinear Control Regulation of a Quadcopter Using Quaternion Representation

et al. 2022

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Controlling a quadcopter is a challenging task because of the inherent high nonlinearity of a quadcopter system. In this paper, a new quaternion-based nonlinear feedback controller for attitude and altitude regulation of a quadcopter is proposed. The dynamic model of the quadcopter is derived using Newton and Euler equations. The proposed controller is established based on a feedback linearization technique to control and regulate the quadcopter. Global asymptotic stability of the designed controller is verified using Lyapunov stability criterion. A comparison between the proposed controller and two states of the art quadcopter controller is performed to evaluate its efficiency and performance. The efficiency of the proposed controller is clearly shown when the quadcopter is in or near a critical position. Simulations are performed to assess the transient and steady state performance. Steady state error and Max error indicators demonstrate the validity and effectiveness of the proposed algorithm with different reference controllers.

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“…A quadrotor UAV is a typical multiinput multi-output, under-actuated and strongly coupled nonlinear system. In the process of flight, attitude transformation and flight stability are the top priorities; therefore, it is particularly important to study the flight attitude control [1]. The research on the flight control of quadrotor UAVs has become a hotspot in recent years.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Attitude Control of Quadrotor UAVs Based on the Delta Operator Framework

Zheng

et al. 2022

Symmetry

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In this paper, a novel adaptive sliding-mode control algorithm is proposed for the attitude control of quadrotor unmanned aerial vehicles (UAVs) under the delta operator framework. First, the delta operator technique is used to discretize the attitude control systems of a quadrotor UAV. Then, based on the linear matrix inequality technique, a linear sliding surface is designed to ensure the asymptotical stability of the quadrotor UAV attitude control system during the sliding motion process. Second, by the estimated external disturbance using a radical basis function (RBF) neural network, an adaptive sliding-mode attitude controller is designed such that the states of the quadrotor UAV attitude systems can be driven towards the desired sliding surface, and thus the attitude control objective of the qudarotor UAV is achieved. Compared with the traditional adaptive sliding-mode control algorithm, the proposed adaptive sliding-mode control algorithm can effectively realize the attitude control of a quadrotor UAV subject to strong disturbances and couplings. Finally, comparisons of the simulation results verify the effectiveness and superiority of the control algorithm proposed in this paper.

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Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization

Cited by 75 publications

References 49 publications

Robust model reference adaptive backstepping sliding-mode control for quadrotor attitude with disturbance observer

Robust model reference adaptive backstepping sliding-mode control for quadrotor attitude with disturbance observer

Attitude and Altitude Nonlinear Control Regulation of a Quadcopter Using Quaternion Representation

Adaptive Sliding Mode Attitude Control of Quadrotor UAVs Based on the Delta Operator Framework

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