Abstract
This paper proposes an adaptive integral-type terminal sliding mode approach for the attitude and position tracking control of a quadrotor UAV subject to model uncertainties and external disturbances. First, an integral-type terminal sliding tracker is designed to attain the quadrotor UAV tracking performance in finite time when the upper bound of perturbations and uncertainties are known. Next, an adaptation law is proposed and a modified parameter-tuning integral-type terminal sliding mode tracking control scheme is designed to compensate of the model uncertainties and external disturbances. The stability and finite time convergence of the proposed approach is verified using the Lyapunov theory. Its performance is assessed using a simulation study encompassing various scenarios. Low chattering dynamics, fast convergence rate, and absence of singularities are the main features of the proposed approach.
Highlights
Unmanned Aerial Vehicles (UAVs), especially quadrotors, are widely popular due to their simple and ordinary structure, small size, low maintenance cost and, high hovering accuracy [1], [2]
Based on the above discussion, this paper proposes an adaptive integral-type terminal sliding mode approach for the attitude and position tracking control of a quadrotor UAV subject to model uncertainties and external disturbances
This paper proposed an adaptive terminal integral-type terminal sliding control procedure for the trajectory and position tracking of a quadrotor UAV subject to model uncertainties and external disturbances
Summary
Unmanned Aerial Vehicles (UAVs), especially quadrotors, are widely popular due to their simple and ordinary structure, small size, low maintenance cost and, high hovering accuracy [1], [2]. In [18], a robust adaptive SMC method was proposed for the control of quadrotors in the presence of external disturbances and uncertainties. In [20], a robust global SMC approach is proposed for the attitude tracking control of the quadrotor in the presence of external disturbances. In [24], an integral TSMC approach is proposed for the tracking control of the quadrotor in the presence of uncertainties, external disturbances and faults. In [25], an adaptive fractional-order fast TSMC approach was proposed for the attitude tracking control of a quadrotor subject to external disturbances and uncertainties. Based on the above discussion, this paper proposes an adaptive integral-type terminal sliding mode approach for the attitude and position tracking control of a quadrotor UAV subject to model uncertainties and external disturbances. Where uTi ’s are obtained based on the adaptive integral-type TSMC method described
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