Integral Adaptive Sliding Mode Control for Quadcopter UAV Under Variable Payload and Disturbance

Abstract

The quadcopter unmanned aerial vehicle (UAV) system is considered a good platform for control scheme design as it is highly nonlinear with coupled dynamics and an under-actuated system. Considering these challenges, this manuscript aimed to propose a control algorithm to control the quadcopter system in the presence of uncertainty and disturbance influences. The integral adaptive sliding mode control scheme has been proposed to control the system. The proposed control scheme is composed of the outer loop controller to control the position of the quadcopter, while the inner loop controls the attitude of the quadcopter. The proposed control law has three major terms, firstly the equivalent control which is developed based on the Lyapunov approach to handle most of the uncertainty and disturbance, secondly the adaptive switching gain, which is achieving fast adaptation against uncertainty, finally the switching function which has been approximated by a tangent hyperbolic function to reduce the unwanted chattering phenomena. The proposed control scheme and its performance have been investigated via a MATLAB/Simulink. The results prove that the implemented control scheme is robust even in the presence of uncertainties and disturbance and the quadcopter tracks the predefined trajectories with limited chattering influence.