Dynamic Integral PID Sliding Mode Attitude-Position Control of Unmanned Aerial Vehicles

Abstract

In this paper, a dynamic PID sliding mode controller for the path following of unmanned aerial vehicles UAV is shown. This strategy consists of dividing the quadrotor UAV dynamics into the position and attitude loop, and by implementing a coordinate transformation, the desired attitude is obtained. First, a dynamic control law is implemented for the attitude loop by considering independent sliding mode control law and a PID controller. A suitable Lyapunov function is applied to prove the integral sliding mode control law’s stability to track the desired position reference. By a similar procedure, the PID and integral sliding mode control law are obtained by providing a dynamic attitude position control law to track the desired attitude. The proposed control strategy drives the integral sliding variable and its first derivative to zero in finite time to achieve a fast convergence of the error variable to zero. In this case, selecting an appropriate Lyapunov functional allows the design of the suitable integral sliding mode control law. Two numerical experiments are offered to validate the theoretical results obtained in this study, and finally, the discussion and conclusions about the theoretical and experimental results are analyzed.KeywordsDynamic controllerPID controllerSliding mode controllerUnmanned aerial vehicleLyapunov theoryStability analysis