Abstract
The present paper proposes an adaptive global nonlinear sliding mode controller (AGNSMC) for the tracking problem of a quadrotor subjected to external disturbances. In order to eliminate the reaching phase and to guarantee the sliding mode of the quadrotor states in the initial time, a novel control law is developed. The upper bounds of disturbances affected the quadrotor dynamics are rejected based on adaptive laws for the both attitude and position subsystem. The tracking performance is enhanced by using the suggested controller. The stability of quadrotor is guaranteed and the global sliding mode surfaces converge to origin values in a finite time. To show the robustness of the proposed control approach against the external disturbances, simulation results are presented and compared with the results of the super-twisting-integral sliding mode controller.
Highlights
Background and motivationsIn recent years, quadcopter has become very popular due to the fast technological development growth which significantly impact how today’s electronics devices are shaped, such as micro-controllers, sensors, and lithium polymer batteries
Quandcopets finds its use in many areas such as agriculture, aerial photography and videography, payload carrying, geographic mapping of inaccessible terrain and locations, and in scientific research and development, etc. This platform is a naturally unstable, under-actuated and multi-input/multi output system, meaning that driving and controlling the system is a bit challenging and requires a strong and accurate mathematical description in order to design an adequate controller and stabilize it with respect to the predefined performance requirement. Another important aspect that should be taken into consideration is uncertainties in the model known as internal uncertainties since unmodeled dynamics or parameters uncertainties can affect heavily the behaviors of the UAV
Simulation results are presented to show the performance tracking and to validate the efficiency of the adaptive global nonlinear sliding mode controller (AGNSMC) proposed in this work
Summary
Background and motivationsIn recent years, quadcopter has become very popular due to the fast technological development growth which significantly impact how today’s electronics devices are shaped, such as micro-controllers, sensors, and lithium polymer batteries. Quandcopets finds its use in many areas such as agriculture, aerial photography and videography, payload carrying, geographic mapping of inaccessible terrain and locations, and in scientific research and development, etc. This platform is a naturally unstable, under-actuated and multi-input/multi output system, meaning that driving and controlling the system is a bit challenging and requires a strong and accurate mathematical description in order to design an adequate controller and stabilize it with respect to the predefined performance requirement.
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