Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle

Abstract

The design of an embedded flight controller for a quadrotor micro air vehicle, which is subject to uncertainties and perturbations, is addressed. In order to obtain robustness against bounded uncertainties and disturbances, an adaptive sliding mode controller is proposed. The control adaptive gains allow using only necessary control to satisfy the task, reducing the chattering effect and at the same time reject external perturbations. Furthermore, a stability analysis of the closed-loop system is given. Finally, simulations and experimental results carried out on a commercial micro air vehicle demonstrate the feasibility and advantages of the proposed flight controller.

Simulation and experimental study on PID control of a quadrotor MAV with perturbation

“…Based on the dynamics of quadrotor MAV in (1,2) and PID controller in (3,4,7), the simulations were conducted through MATLAB/Simulink ® R2019a by setting third-order solver with 0.005 second sampling period. The dynamics and were evaluated with the presences of external disturbances, a normal Gaussian noise of force defined as [ ] at the time interval [15].…”

“…Recently, many quadrotor drones have been developed based on their size and purposes such as mini drones, hobby drones, professional drones, selfie drones, and FPV racing drone [1]. Mini drone or micro air vehicle (MAV) defined as a small scale UAV with mass < 0.1 kg get attention by educator/researcher due to it reliable and safe to perform in denied GPS space such as in the halls, schools, and more [2].…”

Disturbance Observer-Based Control for Trajectory Tracking of a Quadrotor

“…However, it is difficult to prove the overall stability and/or different flight control modes cannot be used at the same time. To overcome this drawback, a hierarchical control strategy based on inner-and outer-loop subsystems is generally used [14][15][16][17][18][19][20][21][22][23]. Using this strategy, it is possible to prove the stability of the closed-loop system and control the position and attitude of the quadrotor simultaneously.…”

“…Using this strategy, it is possible to prove the stability of the closed-loop system and control the position and attitude of the quadrotor simultaneously. Therefore, nonlinear controllers such as backstepping [16], adaptive [17,18], sliding mode [19][20][21], and neural-network-based controllers [22,23] have all been proposed using hierarchical control strategies. In a hierarchical control strategy, the control system is divided into two subsystems.…”

Vehicular Systems Technologies: Challenges and Trends Across Transportation Means

“…For instance, energy management is another niche of interest in order to enable efficient battery-powered vehicles such as drones, Unmanned Maritime Vehicles (UMV), or electric road-vehicles, among others [5]. Of course, the enhancement of on-board electronic systems for monitoring the status of the vehicles or the transportation infrastructure is also a field in continuous evolution [6,7].…”