Fast Terminal Sliding Mode Super Twisting Controller For Position And Altitude Tracking of the Quadrotor

Tripathi, Vibhu Kumar; Kamath, Archit Krishna; Verma, Nishchal K.; Behera, Laxmidhar

doi:10.1109/icra.2019.8794296

Cited by 25 publications

(20 citation statements)

References 9 publications

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“…To implement the proposed observer–controller pair, the DJI Matrice 100 is used. A detailed description of the same can be found in our previous work [36]. Being a development drone, it provides flexibility in implementing user‐defined controller strategies alongside the DJI manifold, which acts as its on‐board computer.…”

Section: Resultsmentioning

confidence: 99%

Finite‐time super twisting sliding mode controller based on higher‐order sliding mode observer for real‐time trajectory tracking of a quadrotor

Tripathi

Kamath

Behera

et al. 2020

IET Control Theory & Appl

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Section: Resultsmentioning

confidence: 99%

Finite‐time super twisting sliding mode controller based on higher‐order sliding mode observer for real‐time trajectory tracking of a quadrotor

Tripathi

Kamath

Behera

et al. 2020

IET Control Theory & Appl

Self Cite

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“…Consider the x-subsystem with the equivalent control u 2eq given in (17) and a hitting control term v s given in (21); the sliding surface s 7 converge to the origin value; then, the tracking error e 7 is stable.…”

Section: Theoremmentioning

confidence: 99%

“…The authors of [20] combine the sliding mode controller with a neural network adaptive approach to address the trajectory tracking of the quadrotor UAV in the presence of external disturbance and parametric uncertainties. In order to obtain faster convergence of tracking errors for altitude and position, a nonlinear fast sliding mode controller combined with the traditional supertwisting algorithm is presented in the work [21]. In order to compensate for the negative effects of completely unknown input saturation constraints, the study presented in [22] deals with this problem and proposes a novel adaptive robust controller in the presence of unmodeled nonlinear dynamics, input saturation, and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

Houm

Abbou

Labbadi

et al. 2020

International Journal of Aerospace Engineering

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This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

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“…One of the effective methods to control quadrotors is the Terminal Sliding Mode control (TSMC) which offers both fast reachability of the quadrotor trajectories and high robustness against disturbances [14,15]. The TSMC can be combined with an adaptive control procedure for the approximation of the upper bound of uncertainties and disturbances to further improve its performance in the presence of uncertainties and disturbances [16,17].…”

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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Fast Terminal Sliding Mode Super Twisting Controller For Position And Altitude Tracking of the Quadrotor

Cited by 25 publications

References 9 publications

Finite‐time super twisting sliding mode controller based on higher‐order sliding mode observer for real‐time trajectory tracking of a quadrotor

Finite‐time super twisting sliding mode controller based on higher‐order sliding mode observer for real‐time trajectory tracking of a quadrotor

Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

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

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