Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

Yassine El Houm,Mohamed Cherkaoui,Moussa Labbadi,Ahmed Abbou,Franco Bernelli-Zazzera

doi:10.1155/2020/9753870

Yassine El Houm, Mohamed Cherkaoui + Show 3 more

Open Access

https://doi.org/10.1155/2020/9753870

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Abstract

This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

Highlights

Quadrotor has attracted increasing attention in recent years
The contributions of the present work are given as follows: firstly, the authors suggest a new second-order sliding mode controller that guarantee faster convergence of the state variables with a simple optimization; secondly, the proposed method uses a nonlinear surface to improve the tracking performance; thirdly, the proposed controller guaranteed the stability under disturbances; the proposed control method is compared with a traditional ST algorithm to validate the efficiency of the proposed MSTNSMC technique
To illustrate the effectiveness of the MSTFNSMC proposed in this work, numerical simulations were carried out in MATLAB software

Summary

Introduction

Quadrotor has attracted increasing attention in recent years. This vehicle has wide applications in civilian and military, such as photography, mapping, agriculture services, disaster monitoring, and maintenance [1, 2]. In order to compensate for the negative effects of completely unknown input saturation constraints, the study presented in [22] deals with this problem and proposes a novel adaptive robust controller in the presence of unmodeled nonlinear dynamics, input saturation, and external disturbances. The contributions of the present work are given as follows: firstly, the authors suggest a new second-order sliding mode controller that guarantee faster convergence of the state variables with a simple optimization; secondly, the proposed method uses a nonlinear surface to improve the tracking performance; thirdly, the proposed controller guaranteed the stability under disturbances; the proposed control method is compared with a traditional ST algorithm to validate the efficiency of the proposed MSTNSMC technique.

Mathematical Modeling of a Quadrotor

Robust Control Design for Quadrotor Position and Attitude

Kdθ Jy

Results and Discussion

Conclusions