Generic Adaptive Sliding Mode Control for a Quadrotor UAV System Subject to Severe Parametric Uncertainties and Fully Un
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Generic Adaptive Sliding Mode Control for a Quadrotor UAV System Subject to Severe Parametric Uncertainties and Fully Unknown External Disturbance Tianpeng Huang, Deqing Huang*, Zhikai Wang, Xi Dai, and Awais Shah Abstract: This paper aims to provide a generic robust controller that is able to manipulate all kinds of quadrotor unmanned aerial vehicle (UAV) systems automatically or adaptively in the presence of severe parametric uncertainties and fully unknown external disturbance. The dynamic model of the quadrotor is first obtained using Newton-Euler equations. Then, considering the underactuated and the strongly coupled characteristics of the quadrotor system, a nonlinear adaptive sliding mode control (ASMC) scheme is proposed. Meanwhile, additional adaptive laws are designed to estimate all the parameters of the quadrotor system, which in principle are difficult to be measured directly and accurately. Furthermore, to guarantee the asymptotic stability of the closed-loop system, the upper bound of the fully unknown external disturbance is estimated and adopted as the switching gain of the ASMC. Finally, simulations and experiments are carried out to illustrate the effectiveness and robustness of the proposed control scheme, where the superiority to linear quadratic control (LQR) and active disturbance rejection control (ADRC) has been demonstrated clearly. Keywords: Adaptive sliding mode controller, external disturbance, parametric uncertainty, quadrotor unmanned aerial vehicle.
1.
INTRODUCTION
The attention of quadrotor UAVs has gradually increased in civilian and commercial applications recently as they have several advantages over the fixed-wing aircrafts and the traditional-rotor helicopters including the ability to hover, quite simplified mechanical design, maneuverability and vertical takeoff and landing [1–3]. To meet the requirement of flight mission with high reliability, the design of specialized controller for a quadrotor UAV in both indoor and outdoor environments is indispensable. However, the control of quadrotor is still a challenging work due to underactuated characteristics, modeling nonlinearity with strongly coupled dynamics as well as the effect of large payload variation, gyroscopic moments. In addition, external disturbances and uncertainty of parameters are ubiquitous phenomena in the design of quadrotor controller, which have been highlighted in the literatures over the years. First, for the quadrotor system subject to parametric uncertainties, [4] presents a closed-form nonlinear control
strategy for achieving tracking of desired output of translational movement in a quadrotor aerial vehicle model with uncertain physical parameters, including mass and inertia moment. In [5], to solve the problem of safe and fast delivery of packages by a quadrotor, a control technique based on the interconnection and damping assignment is proposed despite the uncertainties of moments of inertia and mass of the quadrotor. Meanwhile, adaptive
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