Design and experiment of adaptive modified super-twisting control with a nonlinear sliding surface for a quadrotor helicopter

Akbar, Reesa; Uchiyama, Naoki

doi:10.1177/1687814018804934

Cited by 7 publications

(2 citation statements)

References 22 publications

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“…In the last few years, the importance of quadrotor UAVs has increased due to their extensive range of applications, such as monitoring, firefighting, crop spraying, mapping, transporting goods, aerial photography and military operations. In general, quadrotor UAVs can be used in various civil operations and defense industry applications [4][5][6][7]. The wide range of use, low cost and simple mechanical structure of quadrotor unmanned aerial vehicles have led many researchers to be interested in this issue [8].…”

Section: Introductionmentioning

confidence: 99%

Fault Tolerant Super Twisting Sliding Mode Control of a Quadrotor UAV Using Control Allocation

Karahan

Inal

Kasnakoğlu

2023

IJRCS

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In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a relative degree equal to one. A super-twisting sliding mode controller is proposed because of its robustness to uncertainties and perturbations. It increases accuracy and reduces chattering. A control allocation algorithm is developed to cope with the actuator fault. Firstly, a nonlinear model of the quadrotor unmanned aerial vehicle (UAV) is presented. Then, the controller design and type of the actuator fault are explained. The control allocation algorithm is used to optimize the trajectory tracking performance of the quadrotor in the presence of an actuator fault. A control allocation algorithm is an effective approach to implementing fault-tolerant control. When actuator faults are identified, they can be modeled as changes in the B matrix of constraints. Various simulations have been made for situations with and without actuator failure. In normal conditions, the quadrotor can accurately track altitude, roll, pitch and yaw references. In faulty conditions, the quadrotor can follow the references with a small error. Simulations prove the effectiveness of the control allocation algorithm, which stabilizes the quadrotor in case of an actuator fault. Overall, this paper presents a novel fault-tolerant controller design for quadrotor aircraft that effectively addresses actuator faults using a super-twisting sliding mode controller and control allocation algorithm.

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Section: Introductionmentioning

confidence: 99%

Fault Tolerant Super Twisting Sliding Mode Control of a Quadrotor UAV Using Control Allocation

Karahan

Inal

Kasnakoğlu

2023

IJRCS

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“…Controller uses the conventional sliding mode approach for control effort generation. A super twisting slide mode approach has been used in [11] for trajectory tracking with the nonlinear sliding surface. Experimental validation of the proposed control architecture has also been included.…”

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confidence: 99%

A robust control design approach for altitude control and trajectory tracking of a quadrotor

Gulshan¹,

Ali

Shah

et al. 2021

Electrical Engineering & Electromechanics

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Introduction. Unmanned aerial vehicles as quadcopters, twin rotors, fixed-wing crafts, and helicopters are being used in many applications these days. Control approaches applied on the quadrotor after decoupling the model or separate altitude control and trajectory tracking have been reported in the literature. A robust linear H∞ controller has been designed for both altitude control and circular trajectory tracking at the desired altitude. Problem. The ability of the quadrotor system to hover at a certain height and track any desired trajectory makes their use in many industrial applications in both military and civil applications. Once a controller has been designed, it may not be able to maintain the desired performance in practical scenarios, i.e. in presence of wind gusts. Originality. This work presents the control strategy to ensure both altitude control and trajectory tracking using a single controller. Purpose. However, there is a need for a single controller that ensures both altitude control and trajectory tracking. Novelty. This paper presents a robust H∞ control for altitude control and trajectory tracking for a six degree of freedom of unmanned aerial vehicles quadrotor. Methodology. Multi input multi output robust H∞ controller has been proposed for the quadrotor for altitude control and tracking the desired reference. For the controller validation, a simulation environment is developed in which a 3D trajectory is tracked by the proposed control methodology. Results. Simulation results depict that the controller is efficient enough to achieve the desired objective at minimal control efforts. Practical value. To verify that the proposed approach is able to ensure stability, altitude control, and trajectory tracking under practical situations, the performance of the proposed control is tested in presence of wind gusts. The ability of the controller to cater to the disturbances within fractions of seconds and maintaining both transient and steady-state performance proves the effectiveness of the controller.

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Sliding Mode Control for the Regulation Problem of an Aerodynamic Angular System: Experimental Platform and Validation

Cervantes

Ávila-Vilchis

Jacinto‐Villegas

et al. 2021

Int. J. Control Autom. Syst.

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Design and experiment of adaptive modified super-twisting control with a nonlinear sliding surface for a quadrotor helicopter

Cited by 7 publications

References 22 publications

Fault Tolerant Super Twisting Sliding Mode Control of a Quadrotor UAV Using Control Allocation

Fault Tolerant Super Twisting Sliding Mode Control of a Quadrotor UAV Using Control Allocation

A robust control design approach for altitude control and trajectory tracking of a quadrotor

Sliding Mode Control for the Regulation Problem of an Aerodynamic Angular System: Experimental Platform and Validation

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