Abstract
In this paper, a robust adaptive sliding mode control scheme is developed for attitude and altitude tracking of a quadrotor unmanned aerial vehicle (UAV) system under the simultaneous effect of parametric uncertainties and consistent external disturbance. The underactuated dynamic model of the quadrotor UAV is first built via the Newton–Euler formalism. Considering the nonlinear and strongly coupled characteristics of the quadrotor, the controller is then designed using a sliding mode approach. Meanwhile, additional adaptive laws are proposed to further improve the robustness of the proposed control scheme against the parametric uncertainties of the system. It is proven that the control laws can eliminate the altitude and attitude tracking errors, which are guaranteed to converge to zero asymptotically, even under a strong external disturbance. Finally, numerical simulation and experimental tests are performed, respectively, to verify the effectiveness and robustness of the proposed controller, where its superiority to linear quadratic control and active disturbance rejection control has been demonstrated clearly.
Highlights
Quadrotor unmanned aerial vehicles (UAVs) have been the focus of robotic research in recent decades
In [22], Sliding mode control (SMC) is designed for a class of underactuated system, and as a typical example, the algorithm is veri ed in position and attitude stabilization control of a quadrotor UAV
To overcome the potential chattering problem that is frequently encountered in standard SMC, in [24], second-order SMCs including the super-twisting sliding mode controller (STSMC), the modi ed ST-SMC (MST-SMC), and the nonsingular terminal ST-SMC (NSTST-SMC) are designed and implemented in real time for the altitude tracking of a quadrotor aircraft
Summary
Quadrotor unmanned aerial vehicles (UAVs) have been the focus of robotic research in recent decades. In [34], to compensate for the timevarying parameter uncertainties and external disturbances, a robust guaranteed cost controller and an optimal robust guaranteed cost controller are presented for the set-point tracking of the quadrotor UAV, respectively. A robust attitude stabilization controller is proposed, which consists of a nominal state-feedback controller and a robust compensator, for quadrotor systems under the influences of nonlinear and coupling dynamics, including parametric uncertainties, unmodeled uncertainties, and external disturbances [35]. In [36], by combining with SMC, a robust backstepping-based approach is investigated for position and attitude tracking of a quadrotor UAV subject to external disturbances and parameter uncertainties, associated with the presence of aerodynamic forces and possible wind force.
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