Model-free control of a quadrotor using adaptive proportional derivative-sliding mode control and robust integral of the signum of the error

In this article, a robust model-free trajectory tracking control strategy is developed for a quadrotor in the presence of external disturbances. The proposed strategy has an outer-inner-loop control structure. The outer loop controls the position with adaptive proportional derivative-sliding mode control and generates the desired attitude angles for the inner loop corresponding to the given position, velocity, and heading references, while the robust integral of the signum of the error method is applied to the inner loop to guarantee fast convergence of attitude angles. Asymptotic tracking of the three-dimensional trajectories is proven by the Lyapunov stability theory. The effectiveness of the proposed controller is demonstrated with the simulation results by comparing with other model-free quadrotor trajectory tracking controllers.

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Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Sensors ◽

10.3390/s21041289 ◽

2021 ◽

Vol 21 (4) ◽

pp. 1289

Author(s):

Dongdong Yuan ◽

Yankai Wang

Keyword(s):

Adaptive Control ◽

Sliding Mode Control ◽

Trajectory Tracking ◽

Tracking Control ◽

Control Method ◽

Sliding Mode ◽

Data Driven ◽

Trajectory Tracking Control ◽

Mode Control ◽

Model Free

In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation based on robust integral of the signum of the error (RISE) and improved sliding mode control (ISMC). The leader-follower strategy is adopted, and the leader realizes trajectory tracking control. A novel asymptotic tracking data-driven controller of quadrotor is used to control the system using the RISE method. It is divided into two parts: The inner loop is for attitude control and the outer loop for position control. Both use the RISE method in the loop to eliminate interference and this method only uses the input and output data of the unmanned aerial vehicle(UAV) system and does not rely on any dynamics and kinematics model of the UAV. The followers realize formation cooperative control, introducing adaptive update law and saturation function to improve sliding mode control (SMC), and it eliminates the general SMC algorithm controller design dependence on the mathematical model of the UAV and has the chattering problem. Then, the stability of the system is proved by the Lyapunov method, and the effectiveness of the algorithm and the feasibility of the scheme are verified by numerical simulation. The experimental results show that the designed data-driven model-free adaptive control method for the quadrotor formation is effective and can effectively realize the coordinated formation trajectory tracking control of the quadrotor. At the same time, the design of the controller does not depend on the UAV kinematics and dynamics model, and it has high control accuracy, stability, and robustness.

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Trajectory Tracking Control for Electro-Optical Tracking System Using ESO Based Fractional-Order Sliding Mode Control

IEEE Access ◽

10.1109/access.2021.3067680 ◽

2021 ◽

pp. 1-1

Author(s):

Xinli Zhou ◽

Xingfei Li

Keyword(s):

Sliding Mode Control ◽

Fractional Order ◽

Trajectory Tracking ◽

Tracking Control ◽

Sliding Mode ◽

Tracking System ◽

Optical Tracking ◽

Trajectory Tracking Control ◽

Optical Tracking System ◽

Mode Control

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Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics ◽

10.5220/0005019704920498 ◽

2014 ◽

Cited By ~ 4

Author(s):

Yasuhiko Mutoh ◽

Nao Kogure

Keyword(s):

Nonlinear Systems ◽

Sliding Mode Control ◽

Trajectory Tracking ◽

Tracking Control ◽

Sliding Mode ◽

Linear Time ◽

Time Varying ◽

Trajectory Tracking Control ◽

Mode Control ◽

Time Varying Systems

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Trajectory Tracking Control of a Stratospheric Airship with Fuzzy Sliding mode Control

2018 37th Chinese Control Conference (CCC) ◽

10.23919/chicc.2018.8483217 ◽

2018 ◽

Author(s):

Shuyu Yao ◽

Haoping Wang ◽

Yang Tian

Keyword(s):

Sliding Mode Control ◽

Trajectory Tracking ◽

Tracking Control ◽

Sliding Mode ◽

Trajectory Tracking Control ◽

Fuzzy Sliding Mode Control ◽

Stratospheric Airship ◽

Mode Control ◽

Fuzzy Sliding Mode

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Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420916276 ◽

2020 ◽

Vol 17 (3) ◽

pp. 172988142091627

Author(s):

Jiajia Zhou ◽

Xinyi Zhao ◽

Zhiguang Feng ◽

Di Wu

Keyword(s):

Sliding Mode Control ◽

Trajectory Tracking ◽

Time Delays ◽

Sliding Mode ◽

Autonomous Underwater Vehicles ◽

Underwater Vehicles ◽

Trajectory Tracking Control ◽

Error Equation ◽

Mode Control ◽

Input Time

Trajectory tracking control of autonomous underwater vehicles in three-dimension always suffers disturbances such as input time delays and model uncertainties. Regarding this problem, an integral time-delay sliding mode control law is proposed in this article with dividing the vehicle’s input time delays model into cascade system consisting of a kinematics subsystem and a dynamics subsystem. Based on the established pose error equation and velocity error equation, a suitable Lyapunov–Krasovskii functional is given to analyze and guarantee the global stability of the whole system under reasonable assumptions. At last, comparative simulations are presented to demonstrate the effectiveness of the proposed method.

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