Quadrotor Altitude Control Based on Sliding Mode Control
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RESEARCH PAPER
Quadrotor Altitude Control Based on Sliding Mode Control José Angel Cano‑González1 · Oscar Salas‑Peña1 · Susana V. Gutierrez1 · Jesus De León‑Morales1 Received: 12 June 2020 / Accepted: 7 September 2020 © Shiraz University 2020
Abstract In this manuscript, the design of a continuous super twisting control based on high-order sliding mode observer for a class of nonlinear systems is addressed. An analysis of stability of the system in closed loop with the proposed control-observer scheme is provided by means of Lyapunov approach, where sufficient conditions are given to ensure the convergence in finite time. Furthermore, a comparative study against similar methodologies is provided, where simulation and experimental results illustrate the effectiveness of the proposed scheme for altitude control of a quadrotor aircraft. Keywords Sliding modes · UAV · Stability
1 Introduction Thanks to advantages such as high maneuverability, vertical take off and landing, hovering and mechanical simplicity, quadrotors have been used in several applications such as monitoring, mapping, inspection and surveillance. Nevertheless, robust flight control systems are required to fulfill a mission, due to unavoidable flight disturbances and parametric uncertainties. For instance, several factors such as the effects of the rotational dynamics, variation on weight, wind gusts and noise in the measurements have an important influence on navigation. Several methodologies to cope with quadrotor stability have been developed and successfully implemented. For example, a fuzzy-based model for hovering control of a class of nonlinear quadrotors has been numerically implemented by Kim (2019); however, its control signal present remarkable high-frequency oscillations. Moreover, linear * Oscar Salas‑Peña [email protected] José Angel Cano‑González [email protected] Susana V. Gutierrez [email protected] Jesus De León‑Morales [email protected] 1
Facultad de Ingeniería Mecánica y Eléctrica, Universidad Autónoma de Nuevo León, 66451 San Nicolás de Los Garza, Mexico
matrix inequality approach inevitably lead to not global but local exponential stabilization result. A saturation integral backstepping controller is used in Zhou et al. (2019), which assures asymptotic stability, yet numerous gains have to be tuned. An H-infinite control is presented in Noormohammadi-Asl et al. (2020), where performance relies on designing appropriate experiments to provide suitable data for system identification and subsequently chose proper sensitivity and input weighting functions. A predictive robust controller is proposed by Alexis et al. (2012), where the control problem of an unmanned quadrotor in an indoor environment is addressed. Notwithstanding a reliable performance, the computation of multiple model predictive controllers over a family of piecewise affine systems cannot guarantee the stability of the nonlinear system during switching, requiring a careful selection of the linearization points. A comparison of various qua
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