Nonlinear control with integral sliding properties for circular aerial robot trajectory tracking: Real‐time validation

Abstract

Summary A nonlinear control algorithm for tracking dynamic trajectories using an aerial vehicle is developed in this work. The control structure is designed using a sliding mode methodology, which contains integral sliding properties. The stability analysis of the closed‐loop system is proved using the Lyapunov formalism, ensuring convergence in a desired finite time and robustness toward unknown and external perturbations from the first time instant, even for high frequency disturbances. In addition, a dynamic trajectory is constructed with the translational dynamics of an aerial robot for autonomous take‐off, surveillance missions, and landing. This trajectory respects the constraints imposed by the vehicle characteristics, allowing free initial trajectory conditions. Simulation results demonstrate the good performance of the controller in closed‐loop system when a quadrotor follows the designed trajectory. In addition, flight tests are developed to validate the trajectory and the controller behavior in real time.

An Adaptive Robust Attitude Tracking Control of Quadrotor UAV with the Modified Rodrigues Parameter

“…Theorem 1: Consider the control system ( 16) under the compounded disturbance, the virtual controller and the control law are chosen with ( 21) and (32). With all initial bound conditions, there exist c i (i = 1, 2) and t 2 , then all the close-loop control system signals are bounded and control system is uniformly ultimately bounded.…”

“…30 Based on the above literatures and existed researches, the backstepping control and sliding mode control are the popular and common control arithmetic for quadrotor UAV. 31,32 The backstepping control is highly effective to deal with the cascaded structure of the quadrotor UAV, and the sliding mode control is adept at rejecting the disturbances. [33][34][35] To take advantage of their strengths, lots pf researchs were carried out by combining backstepping control with sliding mode control, and the robustness of the proposed control approaches was obvious improved.…”

Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance

“…In fact, there exist three problems in the controlling of unmanned aerial vehicles: (I) UAVs are multi-input multi-output systems; (II) UAVs have unknown parameters; (III) UAVs have timevarying states and delays [12]. Quadrotors are underactuated control systems with 6-DOF and four independent control inputs [13][14][15]. In fact, translational and rotational motions in the quadrotor can be done by changing of speed of four rotors.…”

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

“…Additionally, several disturbances observers have been properly reported in [28][29][30][31] for compositing interesting control schemes. Moreover, nonlinear controllers based on sliding modes [32][33][34] and backstepping [35][36][37] approaches have been suitably introduced to deal with disturbances and uncertainties in quadrotor vehicles and, in some studies, further extended for fault tolerant controllers. In addition, important contributions based on theories such as robust H ∞ control [38], model predictive control [39], generalized proportional-integral control [40], energy-based control [41,42], optimal control [21,43], Lyapunov-based control [44], adaptive control [45,46], etc., have vastly improved the performance of quadrotors in regulation and tracking tasks.…”