Continuous Sliding-Mode Control Strategies for Quadrotor Robust Tracking: Real-Time Application

Ríos, Héctor; Falcón, Romeo; González, Óscar; Dzul, A.

doi:10.1109/tie.2018.2831191

Cited by 193 publications

(112 citation statements)

References 22 publications

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“…In order to demonstrate the robustness properties of the proposed algorithm, the following external disturbances have been introduced 19 : X = sin(t), Y = cos(t), Z = 0.5 sin(0.5t) cos(0.5t), = 0.5 sin(0.5t), = 0.5 cos(0.5t), = 0.5 cos(0.5t) sin(0.5t).…”

Section: Simulation Resultsmentioning

confidence: 99%

“…The reference trajectories in X and Y are defined as circular path whereas altitude Z is forced to be constant ( Z ref =1 m ), and ψ ref =0. The initial values are defined as

{[X (0) Y (0) Z (0) ϕ (0) θ (0) ψ (0)]}^{T} = {[0 1.5 0 0.5 0.5 0.5]}^{T} .

In order to demonstrate the robustness properties of the proposed algorithm, the following external disturbances have been introduced:

\begin{matrix} alignleft \\ align-1 δ_{X} & align-2 = \sin (t), δ_{Y} = \cos (t), δ_{Z} = 0.5 \sin (0.5 t) \cos (0.5 t), \\ align-1 δ_{ϕ} & align-2 = 0.5 \sin (0.5 t), δ_{θ} = 0.5 \cos (0.5 t), δ_{ψ} = 0.5 \cos (0.5 t) \sin (0.5 t) . \end{matrix}

One supposes that the state measurement is affected by a white noise with a standard deviation equal to 0.0001 and a sampling time equal to 0.001 s …”

Section: Applicationmentioning

confidence: 99%

“…L becomes equal to zero; then, the gain adaptation is reversed starts to decrease. Then, at L = L + , from (19), with . L = 0, one has…”

Section: Boundness Of L(t)mentioning

confidence: 99%

See 2 more Smart Citations

A simplified version of adaptive super‐twisting control

Gutierrez

León-Morales

Plestan

et al. 2019

Intl J Robust & Nonlinear

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Summary In this paper, a simplified super‐twisting control with adaptive gain is proposed for a class of nonlinear uncertain systems. A strong Lyapunov function is constructed to design a sliding mode controller with adaptive gain. Furthermore, the analysis of the finite time convergence towards the equilibrium point of the closed‐loop system is detailed. Regarding previous works from literature, the main contribution of this approach is the simplification of the gain tuning process by maintaining a high level of performance. Finally, simulation results for tracking control of a quadrotor are given to show the performance of the proposed algorithm.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%

“…The reference trajectories in X and Y are defined as circular path whereas altitude Z is forced to be constant ( Z ref =1 m ), and ψ ref =0. The initial values are defined as

{[X (0) Y (0) Z (0) ϕ (0) θ (0) ψ (0)]}^{T} = {[0 1.5 0 0.5 0.5 0.5]}^{T} .

In order to demonstrate the robustness properties of the proposed algorithm, the following external disturbances have been introduced:

\begin{matrix} alignleft \\ align-1 δ_{X} & align-2 = \sin (t), δ_{Y} = \cos (t), δ_{Z} = 0.5 \sin (0.5 t) \cos (0.5 t), \\ align-1 δ_{ϕ} & align-2 = 0.5 \sin (0.5 t), δ_{θ} = 0.5 \cos (0.5 t), δ_{ψ} = 0.5 \cos (0.5 t) \sin (0.5 t) . \end{matrix}

One supposes that the state measurement is affected by a white noise with a standard deviation equal to 0.0001 and a sampling time equal to 0.001 s …”

Section: Applicationmentioning

confidence: 99%

See 1 more Smart Citation

A simplified version of adaptive super‐twisting control

Gutierrez

León-Morales

Plestan

et al. 2019

Intl J Robust & Nonlinear

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show abstract

“…At first, the significant challenge is to ensure the stability and convergence characteristic of quadrotor. In recent years, advanced control methods have been applied in the field of quadrotor, such as sliding mode control, [5][6][7] backstepping control, 8,9 and dynamic inversion. 10,11 Due to the excellent stability of sliding mode control method, it is widely used in the quadrotor control.…”

Section: Introductionmentioning

confidence: 99%

Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle

Shang

et al. 2020

International Journal of Advanced Robotic Systems

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A fixed time robust control method is presented for trajectory tracking control of quadrotor systems with motor dynamics in the presence of unmodeled disturbances and external disturbances. The recommended control method avoids the negative effect to the quadrotor system caused by motor dynamic which is considered as first-order dynamic with dynamic disturbance. And fixed time extended state observer is adopted to estimate the composite disturbances and obtain the first and second derivative of desired trajectory and virtual control. Together with fixed time convergence control method, the stability and convergence characteristics of quadrotor system can be guaranteed. Finally, several simulations prove the effectiveness of the novel method with different time constants of motor dynamics.

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“…Chai et al [2] helped the aeroassisted spacecraft in tracking the reconnaissance trajectory by means of model predictive control; two-nested gradient method is used to further decrease the computational demand. Combining proportional-integralderivative controller and continuous sliding-mode controller together, Ríos et al [3] proposed a robust tracking strategy for quadrotors with a desired time-varying trajectory. Chu et al [4] designed an adaptive trajectory tracking controller for remotely operated vehicle, which is provided with an adaptive terminal sliding-mode observer for state estimation and a local recurrent neural network for dynamic model identification.…”

Section: Introductionmentioning

confidence: 99%

Finite‐Horizon Optimal Tracking Guidance for Aircraft Based on Approximate Dynamic Programming

Wan

Chang

et al. 2019

Mathematical Problems in Engineering

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Referring to the optimal tracking guidance of aircraft, the conventional time based kinematics model is transformed into a downrange based model by independent variable replacement. The deviations of in-flight altitude and flight path angle are penalized and corrected to achieve high precision tracking of reference trajectory. The tracking problem is solved as a linear quadratic regulator applying small perturbation theory, and the approximate dynamic programming method is used to cope with the solving of finite-horizon optimization. An actor-critic structure is established to approximate the optimal tracking controller and minimum cost function. The least squares method and Adam optimization algorithm are adopted to learn the parameters of critic network and actor network, respectively. A boosting trajectory with maximum final velocity is generated by Gauss pseudospectral method for the validation of guidance strategy. The results show that the trained feedback control parameters can effectively resist random wind disturbance, correct the initial altitude and flight path angle deviations, and achieve the goal of following a given trajectory.

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Continuous Sliding-Mode Control Strategies for Quadrotor Robust Tracking: Real-Time Application

Cited by 193 publications

References 22 publications

A simplified version of adaptive super‐twisting control

A simplified version of adaptive super‐twisting control

Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle

Finite‐Horizon Optimal Tracking Guidance for Aircraft Based on Approximate Dynamic Programming

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