Smooth Robust Control Applied to Quadrotor Landing

Dynamic Smooth Sliding Control Applied to UAV Trajectory Tracking

“…urable UAV. In [31], a sliding mode technique was proposed allowing the UAV control to adapt to the altered mass without re-tuning the controller and, in [32], the landing problem on a moving platform was solved together with a pick-and-place task, by using the so-called SSC scheme.…”

“…To compensate for the phase lag added by the averaging filter, an internal prediction loop was employed so that the ideal sliding mode could be preserved, leading to chattering avoidance and robustness concerning unmodelled dynamics [36]. Recently, this strategy was generalized for plants with time-varying control gain and applied to the autonomous landing problem in a moving platform [32]. More recently, in [37] was presented a new SSC scheme with the averaging filter time constant being updated via the tracking error for a real UAV trajectory tracking application.…”

“…A complete closed-loop stability analysis is provided, leading to global stability properties, exact output regulation, and practical output tracking. In addition, realistic simulation results with an Unmanned Aerial Vehicle (UAV) model, incorporating aerodynamic effects and internal closed-loop controllers, are obtained and validated via experiments with a commercial hexacopter.INDEX TERMS Sliding-Mode Control, Chattering Avoidance, Unmodelled Dynamics, Super-Twisting Algorithm (STA), Unmanned Aerial Vehicle (UAV).Additionally, beyond affecting UAV's dynamics by adding manipulators, UAV geometric parameters can be variable over time [30] and the pick-and-place task can generate mass variation [31], [32]. In [30], a Fast Terminal Sliding Mode Controller was applied to guarantee the flight stability and rapid convergence of the states in finite time with a reconfig-…”

“…Additionally, beyond affecting UAV's dynamics by adding manipulators, UAV geometric parameters can be variable over time [30] and the pick-and-place task can generate mass variation [31], [32]. In [30], a Fast Terminal Sliding Mode Controller was applied to guarantee the flight stability and rapid convergence of the states in finite time with a reconfig-…”