Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance

Omid Mofid,Saleh Mobayen,Wing-Kwong Wong

doi:10.1109/access.2020.3047659

Omid Mofid, Saleh Mobayen + Show 1 more

Open Access

https://doi.org/10.1109/access.2020.3047659

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Abstract

In this paper, a 6-Degrees-of-Freedom (6-DOF) Unmanned Aerial Vehicle (UAV) system with external disturbance corresponding to sensor failure is considered. The control method is presented in two parts. In the first part, the upper bound of external disturbance is known and a Proportional-Integral-Derivative (PID) Sliding Mode Control (SMC) technique is planned for maintaining the desired position in the finite time. Whereas, the upper bound of the external disturbance is considered unknown in the second part and the adaptive PID-SMC method is offered for stability and position tracking control of UAV systems. Using the Lyapunov stability notion, the offered control method proves that the quadrotor's states can be tracked and stabilized in the finite time. Moreover, for the approximation of unknown bound of the external disturbances which are entered in the quadrotor dynamic model at any moment, adaptive control laws have been applied. Finally, simulation outcomes are provided to display the efficiency of the recommended technique.

Highlights

As stated by the previous authors’ researches, no comprehensive work has been done in designing an adaptive PID sliding mode control method for the aim of finite time tracking of attitude and altitude of unmanned aerial vehicles
In this paper, the dynamical state-space equation of an unmanned aerial vehicle with six degree-of-freedom is set up according to the Newton-Euler formulization
A PID-Sliding Mode Control (SMC) scheme is proposed in the aim of the finite-time stability and tracking control of Unmanned Aerial Vehicle (UAV) system with 6-DOF in the presence of exterior disturbances with known bounds

Summary

INTRODUCTION

As stated by the previous authors’ researches, no comprehensive work has been done in designing an adaptive PID sliding mode control method for the aim of finite time tracking of attitude and altitude of unmanned aerial vehicles. The highest innovations of the recommended scheme of this article compared with the above-stated studies are the implementation of the adaptive PID sliding mode control scheme with fast and finite time convergence for UAVs and the alleviation of the chattering phenomenon in the control inputs. - An adaptive PID-SMC technique is planned in the aim of quadrotor’s tracking and stability control in the presence of the external perturbations with unknown bound of disturbances. An adaptive PID-SMC method in the aim of stability and tracking control of quadrotor by unknown bounded external disturbances is provided in Sect.

DESCRIPTION OF UAV FLIGHT MODEL

POSITION TRACKING OF QUADROTOR UAV

ADAPTIVE POSITION TRACKING OF QUADROTOR UAV

SIMULATION RESULTS

CONCLUSION