Robust Observer-Based Dynamic Sliding Mode Controller for a Quadrotor UAV

Fethalla, Nuradeen; Saad, Maarouf; Michalska, H.; Ghommam, Jawhar

doi:10.1109/access.2018.2866208

Cited by 76 publications

(41 citation statements)

References 27 publications

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“…The considered wind guest in this scenario results in f I ∞ = 1 and f o ∞ = 2. As shown in Table 2, the parameters β I in (25) and β o in (33), are designed to satisfy the stability conditions given in (26) and (36), respectively. The performance of the proposed tracking control strategy is depicted in Fig.…”

Section: A Simulation Resultsmentioning

confidence: 99%

Robust Backstepping Sliding Mode Control for a Quadrotor Trajectory Tracking Application

Almakhles

2020

IEEE Access

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This paper proposes a robust position control scheme for a quadrotor UAV system under uncertainties. The proposed control algorithms combine integral sliding mode and backstepping sliding mode controllers in a double-loop control structure (i.e., inner-outer loop control). The design of the proposed controller is divided into two subcontrollers, namely, attitude and position controllers for the quadrotor. In this work, a nonsimplified six-degree-of-freedom quadrotor model is first established in the presence of disturbances. Afterward, we develop a robust backstepping sliding mode controller for the attitude control of the quadrotor. Next, a robust integral sliding mode controller is designed for the outer loop of the quadrotor to ensure the position trajectory tracking capability in the presence of disturbances. The stability and performance of the quadrotor is thoroughly investigated using Lyapunov stability analysis. Numerical simulations demonstrate the effectiveness of the developed solutions for a quadrotor.

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Section: A Simulation Resultsmentioning

confidence: 99%

Robust Backstepping Sliding Mode Control for a Quadrotor Trajectory Tracking Application

Almakhles

2020

IEEE Access

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“…A robust attitude stabilization controller is proposed, which consists of a nominal state-feedback controller and a robust compensator, for quadrotor systems under the influences of nonlinear and coupling dynamics, including parametric uncertainties, unmodeled uncertainties, and external disturbances [35]. Besides, in [36], by combining with SMC, a robust backstepping-based approach is investigated for position and attitude tracking of a quadrotor UAV subject to external disturbances and parameter uncertainties, associated with the presence of aerodynamic forces and possible wind force. Moreover, a hierarchical control strategy based on adaptive radial basis function neural networks (RBFNNs) and double-loop integral SMC is presented in [37] for the trajectory tracking of the quadrotor UAV.…”

Section: Introductionmentioning

confidence: 99%

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Huang

Wang

et al. 2019

Complexity

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In this paper, a robust adaptive sliding mode control scheme is developed for attitude and altitude tracking of a quadrotor unmanned aerial vehicle (UAV) system under the simultaneous effect of parametric uncertainties and consistent external disturbance. The underactuated dynamic model of the quadrotor UAV is first built via the Newton–Euler formalism. Considering the nonlinear and strongly coupled characteristics of the quadrotor, the controller is then designed using a sliding mode approach. Meanwhile, additional adaptive laws are proposed to further improve the robustness of the proposed control scheme against the parametric uncertainties of the system. It is proven that the control laws can eliminate the altitude and attitude tracking errors, which are guaranteed to converge to zero asymptotically, even under a strong external disturbance. Finally, numerical simulation and experimental tests are performed, respectively, to verify the effectiveness and robustness of the proposed controller, where its superiority to linear quadratic control and active disturbance rejection control has been demonstrated clearly.

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“…(1) Compared with the neural networks (NN)-based observers [30]- [33], [50], [51] and the nonlinear ESO [59]- [62] requiring the multiple states information and complex nonlinear coefficients, the LESO employed in the control scheme is intuitively designed based on the state feedback, and the tuning operation is rather simple since linear observer parameters are utilized. (2) Rather than the nonlinear disturbances observers [45]- [49], [64]- [67] and other ESO [59]- [63] based on the position feedback, the 2 nd -order LESO with velocity feedback is developed. In practice, the velocity information is easily acquired, which is more accurate and reliable, especially for the multi-rotor UAVs.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, the 2 nd -order LESO based on the velocity feedback is likely to be more practical than that with the position feedback. (3) Unlike the existing observers [59]- [67] including ESO based control methods with large observer gains being usually selected to reduce the bounded tracking errors, the proposed nonlinear control scheme improves the robustness by introducing the adaptive switching term based compensator to eliminate the observation errors, and the asymptotical tracking performance of the hexacopter UAV can be achieved. The requirement on the large observer gains is relaxed, and high gain behaviors can be avoided.…”

Section: Introductionmentioning

confidence: 99%

Robust and Adaptive Backstepping Control for Hexacopter UAVs

Zhang

Deng

et al. 2019

IEEE Access

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A nonlinear robust and adaptive backstepping control strategy is hierarchically proposed to solve the trajectory tracking problem of hexacopter UAVs. Due to the under-actuated and coupled properties of the hexacopter dynamics, the nominal backstepping control approach is fully designed as the main controller. Considering the model uncertainties and external disturbances perturbing the system stability, a robust 2 nd-order linear extended state observer (LESO) with more reliable velocity feedback is devised to observe and suppress the instabilities, and peaking phenomena in the observation are removed. Usually, large observer gains are selected to reduce the tracking errors but will amplify the measurement noise. To further enhance the system robustness, an adaptive switching function based compensator is introduced to eliminate the observation errors, through which the requirement on large observer gains is relaxed, and high gain behaviors of the LESO are avoided. Stability analysis proves that the nonlinear control scheme can ensure the hexacopter UAV asymptotic tracking along the designated trajectory. Comparative simulations under different controllers are carried out to demonstrate the efficiency and superiority of the proposed control scheme. INDEX TERMS Hexacopter UAV, trajectory tracking, robust backstepping control, 2 nd-order LESO, hierarchical compensators.

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Robust Observer-Based Dynamic Sliding Mode Controller for a Quadrotor UAV

Cited by 76 publications

References 27 publications

Robust Backstepping Sliding Mode Control for a Quadrotor Trajectory Tracking Application

Robust Backstepping Sliding Mode Control for a Quadrotor Trajectory Tracking Application

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Robust and Adaptive Backstepping Control for Hexacopter UAVs

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