A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Soumayya Chakir,Young-Bok Kim,Minh-Thien Tran,Dong-Hun Lee

doi:10.3390/act10030054

Soumayya Chakir, Young-Bok Kim + Show 2 more

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https://doi.org/10.3390/act10030054

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Journal: Actuators	Publication Date: Mar 7, 2021
Citations: 11	License type: CC BY 4.0

Affiliation: Pukyong National University

Abstract

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

Highlights

This study proposes a new approach to overcome the high nonlinearity of the ducted-fan unmanned aerial vehicle (DUAV) systems
The ASTSMC-TDE control gains are assigned as Ks = diag(0.0555, 0.0555, 0.0555, 0.0555), ks = (2.562(1, 1, 1, 1)) T, hs = (1.9001(1, 1, 1, 1)) T, and ζ = (500(1, 1, 1, 1)) T
The system performance has improved by 35.91% in RSME, 36% in ITAE, and 30.27% in integral of the square value (ISV) when the ASTSMC-TDE controller was implemented

Summary

Introduction

The ducted-fan unmanned aerial vehicle (DUAV) technologies have consistently evolved since their first emergence to fulfill military objectives and humanitarian relief operations [1,2,3,4]. DUAV systems have demonstrated successful departures from unprepared sites and small deck spaces [5]. These ducted-fan vehicles have been subjected to turbulent environments [6,7] and gusty winds [8,9], and their performance was studied. A DUAV system is mainly required to accurately follow a predefined trajectory [10,11]. The landing process should as well be considered as one of the most important aspects in developing such systems [12,13]

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