Attitude Control for Quadrotors Under Unknown Disturbances Using Triple-Step Method and Nonlinear Integral Sliding Mode

Zhu, Chaojie; Chen, Jicheng; Zhang, Hui

doi:10.1109/tie.2022.3189086

Cited by 7 publications

(4 citation statements)

References 29 publications

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“…Under the framework of SMC, the tracking process of the system can be divided into a sliding surface reaching stage and a sliding stage [18,25,26]. To fully improve the response speed, an integral sliding surface was constructed so that the system is located on the sliding surface in the initial stage [27][28][29]. Based on the backstepping method [30][31][32], the sliding surface was designed hierarchically to ensure the sequential convergence of the system state variables.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method

Liu,

Song,

Zhang

et al. 2024

JMSE

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The three-degree-of-freedom (3-DOF) stabilized control system for ship propulsion-assisted sails is used to control the 3-DOF motion of sails to obtain offshore wind energy. The attitude of the sail is adjusted to ensure optimal thrust along the target course. An adaptive finite-time backstepping integral sliding mode control based on the inverse system method (ABISMC-ISM) is presented for attitude tracking of the sail. Considering the nonlinear dynamics and strong coupling of the system, a decoupling strategy is established using the inverse system method (ISM). Constructing inverse dynamics to eliminate internal coupling, the system is transformed into independent pseudolinear subsystems. For the decoupled open-loop subsystems, an adaptive finite-time backstepping integral sliding mode control is designed to achieve closed-loop control. A backstepping-based integral sliding surface is proposed to eliminate the phase-reaching stage of the sliding surface. Considering the unmodelled dynamics and external disturbances, an adaptive extreme learning machine (AELM) was designed to estimate the disturbances. Furthermore, a sliding mode reaching law based on finite-time theory was employed to ensure that the system returns to the sliding surface in a finite time under chattering conditions. Experiments on a principle prototype demonstrate the effectiveness and energy-saving performance of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method

Liu,

Song,

Zhang

et al. 2024

JMSE

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“…The control strategy was designed based on a parameter variant discrete-time linear system. Reference [ 11 ] reports the design and implementation of a cascade attitude controller for the Parrot Mambo Minidrone. The controller was designed using the triple-step and nonlinear integral sliding mode control NISMC method considering the three-DOF nonlinear model.…”

Section: Introductionmentioning

confidence: 99%

A Sensor Fusion Approach to Observe Quadrotor Velocity

Meza-Ibarra,

Martínez-Ulloa,

Moreno-Pacheco

et al. 2024

Sensors

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The growing use of Unmanned Aerial Vehicles (UAVs) raises the need to improve their autonomous navigation capabilities. Visual odometry allows for dispensing positioning systems, such as GPS, especially on indoor flights. This paper reports an effort toward UAV autonomous navigation by proposing a translational velocity observer based on inertial and visual measurements for a quadrotor. The proposed observer complementarily fuses available measurements from different domains and is synthesized following the Immersion and Invariance observer design technique. A formal Lyapunov-based observer error convergence to zero is provided. The proposed observer algorithm is evaluated using numerical simulations in the Parrot Mambo Minidrone App from Simulink-Matlab.

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“…Quan et al developed a practical distributed controller that enables UAVs to accurately navigate through virtual tubes, enhancing trajectory tracking performance [15]. Additionally, Zhu et al designed a nonlinear integral sliding mode attitude controller using the triple-step method to enable UAVs to withstand unknown disturbances [16].…”

Section: Introductionmentioning

confidence: 99%

Efficient Trajectory Planning for Optimizing Energy Consumption and Completion Time in UAV-Assisted IoT Networks

Li,

Jia,

et al. 2023

Mathematics

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Quadrotor unmanned aerial vehicles (UAVs) have emerged as ubiquitous and agile robots and data carriers within the framework of the future Internet of Things (IoT) and mobile wireless networks. Yet, the insufficient onboard battery necessitates the optimization of energy consumption for both the UAV and IoT devices while ensuring that communication requirements are met. This paper therefore proposes a more accurate and mathematically tractable model for characterizing a UAV’s energy consumption concerning desired trajectories. This nonlinear model takes into account the UAV’s dynamics, brushless direct current (BLDC) motor dynamics, and aerodynamics. To optimize the communication time between IoT devices and the UAV, IoT devices are clustered using a modified GAK-means algorithm, with dynamically optimized communication coverage radii. Subsequently, a fly–circle–communicate (FCC) trajectory design algorithm is introduced and derived to conserve energy and save mission time. Under the FCC approach, the UAV sequentially visits the cluster centers and performs circular flight and communication. Transitions between cluster centers are smoothed via 3D Dubins curves, which provide physically achievable trajectories. Comprehensive numerical studies indicate that the proposed trajectory planning method reduces overall communication time and preserves UAV battery energy compared to other benchmark schemes.

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Attitude Control for Quadrotors Under Unknown Disturbances Using Triple-Step Method and Nonlinear Integral Sliding Mode

Cited by 7 publications

References 29 publications

Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method

Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method

A Sensor Fusion Approach to Observe Quadrotor Velocity

Efficient Trajectory Planning for Optimizing Energy Consumption and Completion Time in UAV-Assisted IoT Networks

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