Non-cascade Adaptive Sliding Mode Control for Quadrotor UAVs under Parametric Uncertainties and External Disturbance with Indoor Experiments

Adaptive nonsingular terminal sliding mode tracking control of quadrotor systems with mass uncertainties and input delay

“…The mass variations can deteriorate the control performance and even destabilize the quadrotor systems. Existing methods dealing with the unknown mass of quadrotors comprise mostly of learning method (Alatorre et al, 2021; Cruz and Fierro, 2014; Erasmus and Jordaan, 2020; Geng and Langelaan, 2021; Sierra-García and Santos, 2021) and adaptive control (Eliker and Zhang, 2020; Liu and Ou, 2021; Vahdanipour and Khodabandeh, 2019; Wang et al, 2021b; Zhao et al, 2021). Both of these methods achieve estimations of the uncertainty mass based on available measurements.…”

“…Thereby, adaptive control has the advantage over the learning approach in that the available measurements and the known dynamics of the quadrotor system are made more full use of to online predict the unknown parameters. SMC combined with adaptive control is adopted for quadrotor systems with mass uncertainty to achieve the better trajectory tracking performance and appropriate robustness (Eliker and Zhang, 2020; Liu and Ou, 2021; Vahdanipour and Khodabandeh, 2019; Wang et al, 2021b; Zhao et al, 2021). However, all these researches ignore the impact of time delay in control input.…”