Adaptive Sliding Mode Control for Attitude and Altitude System of a Quadcopter UAV via Neural Network

Ngoc Phi Nguyen,Nguyen Xuan Mung,Sung Kyung Hong,Ngoc Tam Lam,Tuan Tu Huynh,Ha Le Nhu Ngoc Thanh

doi:10.1109/access.2021.3064883

Abstract

In this article, a sliding mode control based on neural networks is proposed for attitude and altitude system of quadcopter under external disturbances. First, the dynamic model of the quadcopter is considered under external disturbances. Sliding mode controllers are then integrated with neural network algorithm to achieve the time-varying sliding surface; their coefficients in sliding surface are adjusted through backpropagation law. The disturbance observer is also combined with sliding mode controllers to estimate and handle the external disturbances. Finally, the Lyapunov theory is applied to validate the stability of suggested control method. The performance of proposed sliding mode control has been evaluated using a numerical simulation. The results show that the attitude and altitude controller based on suggested algorithm has a better tracking performance and disturbance rejection.

Highlights

Unmanned aerial vehicles (UAVs) have been studied for their numerous applications in the several sectors of military, search and rescue, coastal surveillance, environment monitoring
The quadcopter systems are underactuated with 6 degree-of-freedom (6-DOF) and four control inputs
This leads to the design of the control law with two loops including the inner loop for attitude control and the outer loop for position control

Summary

Introduction

Unmanned aerial vehicles (UAVs) have been studied for their numerous applications in the several sectors of military, search and rescue, coastal surveillance, environment monitoring. The quadcopter systems are underactuated with 6 degree-of-freedom (6-DOF) and four control inputs This leads to the design of the control law with two loops including the inner loop for attitude control and the outer loop for position control. From the applications of the quadcopter, it is apparent that stabilization control of the quadcopter in the outdoor and indoor environment is an important mission that can ensure safe and stable operations. In this mission, an attitude control is designed for performing attitude tracking and enhancing the position accuracy, while an altitude controller can maintain desired altitude during its mission. The modification and improvement of the attitude and altitude controller are required to carry out the quadcopter system more stable and adaptable in presence of disturbance and model uncertainties

Methods

Results

Conclusion