Abstract
Quadrotor UAV has a strong mobility and flexibility in flight and has been widely used in military and civil fields in recent years. An adaptive backstepping sliding mode control (ABSMC) method is proposed to address the trajectory tracking control problem of quadrotor UAV based on actuator fault and external disturbance. In the proposed method, the switching gain of adaptive sliding mode control is constructed in the backstepping design process in order to suppress the chattering effect of sliding mode control effectively by differential iteration. Firstly, the dynamic model of quadrotor UAV with actuator fault and external disturbance is proposed, and then the controllers are designed based on the ABSMC method. Finally, the comparison experiments between sliding mode control (SMC) method and ABSMC method show that the ABSMC method can not only effectively suppress the chattering problem for the SMC method but also perform a perfect control effect.
Highlights
In recent years, UAVs have been widely used in military and civilian applications, such as environmental supervision, geological analysis, agricultural operations, search and rescue, and mail delivery [1, 2]
The sliding mode control (SMC) method is widely used in the field of UAV control because it has a strong robustness to disturbance and unmodeled dynamics and good control effect to nonlinear systems [9,10,11,12]; the setting of its switching gain often causes severe chattering on the control input signal, which often generates a huge burden on the operation of the actuator [13,14,15]
To verify the effectiveness of the proposed adaptive backstepping sliding mode control (ABSMC) method, the SMC method and ABSMC method are used to perform trajectory tracking control of quadrotor UAV based on MATLAB 2019b. e expected trajectory of the UAV is set as shown in equation (39)
Summary
UAVs have been widely used in military and civilian applications, such as environmental supervision, geological analysis, agricultural operations, search and rescue, and mail delivery [1, 2]. The sliding mode control (SMC) method is widely used in the field of UAV control because it has a strong robustness to disturbance and unmodeled dynamics and good control effect to nonlinear systems [9,10,11,12]; the setting of its switching gain often causes severe chattering on the control input signal, which often generates a huge burden on the operation of the actuator [13,14,15]. Considering that the traditional sliding mode control method is insensitive to the nonlinear problems such as disturbance and failure in the flight of the quadrotor UAV system and the setting of its switching gain can cause huge chattering of input, an adaptive backstepping sliding mode control (ABSMC) method is proposed in this paper, which can estimate the upper bound of the sliding mode switching gain in real time and modify the sliding mode controller in combination with the backstepping method to suppress the chattering of the sliding mode control. Ωr ω4 + ω2 − ω1 − ω3, where U1−U4 are the control input of UAV; εU1−εU4 denote the unknown actuator fault; f1−f6 are defined as the unknown external interference; Ix, Iy, and Iz present the inertia matrix; b and d are the drag coefficient and lift coefficient, respectively; m is the mass of the quadrotor UAV; g is the gravity acceleration; l represents the length of the quadrotor UAV from the end of each rotor to the center of gravity; Jr is the moment of inertia of the motor rotor; [φ, θ, ψ] represent the roll angle, pitch angle, and yaw angle, respectively; [x, y, z] are the position coordinates of the center of mass of the quadrotor UAV relative to the fixed coordinate system; and ωi(i 1, 2, 3, 4) are the rotation speed of four propellers of quadrotor UAV
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