Abstract
A robust adaptive fuzzy nonlinear controller based on dynamic surface and integral sliding mode control strategy (ADSISMC) is proposed to realize trajectory tracking for a class of quadrotor UAVs. In this study, the composite factors including parametric uncertainties and external disturbances are added to controller design, which make it more realistic. The quadrotor model is divided into two subsystems of attitude and position that make the control design become feasible. The main contributions of the proposed ADSISMC strategy are as follows: (1) The combination of dynamic surface and integral sliding mode makes the system always in sliding stage by finding the appropriate initial position compared with the common sliding mode, and the complexity of explosion in backstepping method is eliminated. (2) By introducing the fuzzy system, the unknown functions and uncertainties can be approximated which significantly improves the robustness and the tracking performance. (3) The switching control strategy is utilized to compensate for the errors between estimated and ideal inputs; the tracking performance of the whole system has been significantly improved. The simulation results show the effectiveness of the proposed control method.
Highlights
As a newborn member of the small unmanned aerial vehicle (UVA) family, quadrotor has attracted much research interest due to its extensive utility in several important applicants, such as commercial photography, military surveillance, rescue mission, and agricultural investigation [1,2,3,4]
(2) By introducing the fuzzy system, the unknown functions and uncertainties can be approximated which significantly improves the robustness and the tracking performance. (3) e switching control strategy is utilized to compensate for the errors between estimated and ideal inputs; the tracking performance of the whole system has been significantly improved. e simulation results show the effectiveness of the proposed control method
In early quadrotor research stage, many studies used conventional linear control methods such as proportionalintegral-derivative (PID) [9, 10] and linear quadratic regulator (LQR) [11] to design the quadrotor controller in order to improve the simpleness and practicability. e linear control technology was developed to stabilize the quadrotor by neglecting the unimportant factors and linearizing the dynamic model. erefore, it is poor and even not acceptable for the tracking accuracy and the robustness of the quadrotor
Summary
As a newborn member of the small unmanned aerial vehicle (UVA) family, quadrotor has attracted much research interest due to its extensive utility in several important applicants, such as commercial photography, military surveillance, rescue mission, and agricultural investigation [1,2,3,4]. The obvious limitation of conventional backstepping design is the problem of “complexity of explosion” caused by the repeated differentiation of some nonlinear functions and the lack of robustness against uncertainties To overcome this limitation of traditional backstepping control, dynamic surface control (DSC) is proposed as an effective alternative method [26,27,28,29,30]. Motivated by the aforementioned observations, a new control methodology combined with dynamic surface and ISMC is proposed for the quadrotor trajectory tracking problem under parametric uncertainties and external disturbances. E main contributions of this paper are summarized as follows: (1) By fusing the technique of DSC and the integral SMC, a new integral sliding mode robust dynamic surface trajectory tracking controller is designed, which eliminates the “explosion of complexity” in the backstepping and improves the robustness of the whole system.
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call