Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

Falcón, Romeo; Ríos, Héctor; Dzul, A.

doi:10.1016/j.conengprac.2019.06.013

Cited by 45 publications

(20 citation statements)

References 33 publications

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“…In this section, simulations are carried out to verify the effectiveness of the ASM-ADRC control strategy for the problem of regulation and monitoring of trajectories of the quadcopter in the MATLAB/Simulink ® environment. In the presence of noise and external disturbances, a comparison with the linear ADRC, PID, ASM (Mofid and Mobayen (2018); Falcón et al (2019)) and Model Reference Adaptive Control (MRAC) (Emran (2014); Dydek et al (2013)) designed for the same system is also presented. The analysis based on performance indices is also carried out for reference tracking of different controllers.…”

Section: Resultsmentioning

confidence: 99%

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Adaptive sliding mode-based active disturbance rejection control for a quadcopter

Suhail

Bazaz

Hussain

2022

Transactions of the Institute of Measurement and Control

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This paper presents an adaptive sliding mode-based active disturbance rejection control (ASM-ADRC) strategy for the altitude and attitude control of an unmanned quadcopter with disturbances. The quadcopter is an underactuated system subject to parametric perturbations, nonlinearity, unmodeled dynamics, strong coupling, and external disturbances. The proposed algorithm is based on the quadcopter’s dynamic model, where the effects of noise and wind are considered additive disturbances. The central concept is to combine the advantages of adaptive sliding mode control (SMC) to accurately track the reference trajectory with the ability of ADRC to reject the parameter uncertainties and external disturbances. The proposed control scheme is verified in simulation studies with sensor noise and external disturbances. The simulation results show that the proposed algorithm can significantly reduce the chattering phenomenon, owing to the estimation capability of the extended state observer (ESO). The proposed method also improves the robustness against modeling errors and disturbances and smoothly tracks the reference trajectory.

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Section: Resultsmentioning

confidence: 99%

“…Falco´n et al (2019)) and Model Reference Adaptive Control (MRAC)(Emran (2014);Dydek et al (2013)) designed for the same system is also presented. The analysis based on performance indices is also carried out for reference tracking of different controllers.…”

mentioning

confidence: 99%

Adaptive sliding mode-based active disturbance rejection control for a quadcopter

Suhail

Bazaz

Hussain

2022

Transactions of the Institute of Measurement and Control

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“…They have been considered in a wide range of applications including; energy transportation streaks' control [3], organizing requirements of military missions [4], surveillance [5], monitoring [6,7], search and rescue [8,9], agriculture [10,11]. Tracking and stability control of quadrotors, however, is a challenging problem that has motivated various research efforts [12,13]. This is due to the fact that quadrotors are under-actuated systems with no natural stabilizing elements, that are often operating under unfamiliar and uncertain flight conditions.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Integral-Type Terminal Sliding Mode Control for Unmanned Aerial Vehicle Under Model Uncertainties and External Disturbances

2021

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This paper proposes an adaptive integral-type terminal sliding mode approach for the attitude and position tracking control of a quadrotor UAV subject to model uncertainties and external disturbances. First, an integral-type terminal sliding tracker is designed to attain the quadrotor UAV tracking performance in finite time when the upper bound of perturbations and uncertainties are known. Next, an adaptation law is proposed and a modified parameter-tuning integral-type terminal sliding mode tracking control scheme is designed to compensate of the model uncertainties and external disturbances. The stability and finite time convergence of the proposed approach is verified using the Lyapunov theory. Its performance is assessed using a simulation study encompassing various scenarios. Low chattering dynamics, fast convergence rate, and absence of singularities are the main features of the proposed approach.

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“…Moreover, nonlinear control methods are also used to achieve an advanced performance of the quadrotor. Some of the nonlinear techniques include feedback linearization [4], sliding mode [5] and backstepping [6]. They have demonstrated significant achievements in robust control of the nonlinear model of the quadrotor.…”

Section: Introductionmentioning

confidence: 99%

Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

et al. 2021

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This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. The wind disturbance is then treated as input to the PD controller for a quick and robust flight pathway in presence of disturbances. With this scheme, the wind disturbance can be precisely estimated online and compensated in real-time. Hence, the quadrotor can successfully reach its desired attitude and position. To show the effective and desired performance of the method, simulation results are presented in Matlab/Simulink and ROS-enabled Gazebo platform.

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Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

Cited by 45 publications

References 33 publications

Adaptive sliding mode-based active disturbance rejection control for a quadcopter

Adaptive sliding mode-based active disturbance rejection control for a quadcopter

Adaptive Integral-Type Terminal Sliding Mode Control for Unmanned Aerial Vehicle Under Model Uncertainties and External Disturbances

Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

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