Quadrotor Stabilization and Tracking Using Nonlinear Surface Sliding Mode Control and Observer

Lee, Kyunghyun; Kim, Sangkyeum; Kwak, Seong Woo; You, Kwanho

doi:10.3390/app11041417

Cited by 11 publications

(5 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to achieve stability of the sliding mode controller, the Lyapunov function is used to process the controller input. The Lyapunov stability criterion [26] is expressed as follows:…”

Section: Adaptive Quick Reaching Law-based Sliding Mode Control Designmentioning

confidence: 99%

Adaptive Quick Sliding Mode Reaching Law and Disturbance Observer for Robust PMSM Control Systems

Ahn,

Kim,

Park

et al. 2024

Actuators

Self Cite

View full text Add to dashboard Cite

The permanent magnet synchronous motor (PMSM) has been of interest to eco-friendly industries on account of its advantages such as high performance, efficiency, and precision control. However, perturbations due to PMSM parameter uncertainty, load torque, and external disturbance interfere with the construction of PMSM precision control systems. Therefore, a robust control system is needed to avoid unnecessary system movement caused by perturbations. In this paper, sliding mode control (SMC) is adopted to implement a robust control system for the PMSM. In order to reduce the reaching time from the initial system state to the sliding surface and the chattering phenomenon that can cause the system to malfunction, the adaptive quick sliding mode reaching law based on an exponential function and power equation is proposed. Although the SMC is robust to disturbance and parameter uncertainty, unexpected disturbances can destabilize the system. To estimate the unmatched disturbance in a short time, the second-order fast terminal sliding mode observer (SFTSMO) is proposed. The results show that the motor control system based on the proposed method has a fast convergence speed to an objective value, position tracking performance, and robustness.

show abstract

“…In order to achieve stability of the sliding mode controller, the Lyapunov function is used to process the controller input. The Lyapunov stability criterion [26] is expressed as follows:…”

Section: Adaptive Quick Reaching Law-based Sliding Mode Control Designmentioning

confidence: 99%

Adaptive Quick Sliding Mode Reaching Law and Disturbance Observer for Robust PMSM Control Systems

Ahn,

Kim,

Park

et al. 2024

Actuators

Self Cite

View full text Add to dashboard Cite

show abstract

“…To overcome the time delay owing to the deceleration curve in SMC, the nonlinear sliding surface that reduces the convergence time with a modified deceleration curve was proposed [ 34 ]. With Equation ( 8 ), the novel modified sigmoid sliding surfaces can achieve the fast-tracking trajectory owing to a nonlinear term in the sliding surfaces.…”

Section: Nonlinear Sliding Mode Control Designmentioning

confidence: 99%

Stabilization and Tracking of a Quadrotor Using Modified Sigmoid Sliding Mode Control

Lee

Ahn

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

A modified sigmoid sliding mode control (MS-SMC) approach is proposed for stabilizing and tracking a quadrotor system with a nonlinear sliding surface, where the dynamics model is underactuated, highly coupled, and nonlinear. The constructed nonlinear sliding surface is based on the traditional sliding mode surface with a modified sigmoid function, allowing the initial value to quickly reach equilibrium. A new type of nonlinear SMC is applied for performance improvement of the quadrotor using the proposed modified sigmoid sliding surface. To control the quadrotor effectively, a double-loop control method is used to design the control rate, in which the position subsystem is the outer loop, and the attitude subsystem is the inner loop.With the Lyapunov function, the stability of the overall closed-loop system is ensured by stabilizing each subsystem step by step. Moreover, from a practical point of view, the system performance under the model uncertainties and external disturbances are also considered. The simulation results show that the proposed MS-SMC performs better than the conventional sliding mode control (CSMC) and the back-stepping sliding mode control (BS-SMC) in terms of stabilization and tracking against external disturbances.

show abstract

“…This allows for the application of higher gain values compared to traditional SOSMC, enabling more stable maneuvering than SOSMC. Typically, the stability of SMC is evaluated using the Lyapunov stability [20,21]. However, for SOSMC, which involves an additional dimension in the reaching law, proving its stability using conventional Lyapunov functions becomes challenging.…”

Section: Introductionmentioning

confidence: 99%

Quadrotor Position and Attitude Tracking Using Advanced Second-Order Sliding Mode Control for Disturbance

Kim,

Ahn,

Chung

et al. 2023

Mathematics

Self Cite

View full text Add to dashboard Cite

Although sliding mode control (SMC) provides powerful control performance, it exhibits chattering phenomena that can lead to operational issues in quadrotor systems when certain thresholds are reached. To address this limitation, this study introduces second-order sliding mode control (SOSMC), which significantly reduces chattering. Furthermore, a modified version of the SOSMC, called advanced second-order sliding mode control (ASOSMC), is proposed by incorporating an additional term to enhance its control capabilities. The ASOSMC exhibits a stability higher than that of traditional SOSMC during quadrotor flight. We established the stability of the ASOSMC system using a more powerful strict Lyapunov stability analysis instead of the conventional Lyapunov stability employed in SMC. This paper presents the design and performance evaluation of the ASOSMC via simulation and compares it with those of conventional SMC (CSMC) and SOSMC. The simulation results confirm that the ASOSMC offers superior control performance in quadrotor systems.

show abstract

Quadrotor Stabilization and Tracking Using Nonlinear Surface Sliding Mode Control and Observer

Cited by 11 publications

References 34 publications

Adaptive Quick Sliding Mode Reaching Law and Disturbance Observer for Robust PMSM Control Systems

Adaptive Quick Sliding Mode Reaching Law and Disturbance Observer for Robust PMSM Control Systems

Stabilization and Tracking of a Quadrotor Using Modified Sigmoid Sliding Mode Control

Quadrotor Position and Attitude Tracking Using Advanced Second-Order Sliding Mode Control for Disturbance

Contact Info

Product

Resources

About