scholarly journals Trajectory Tracking Control of a Four Rotor Unmanned Aerial Vehicle Based on Continuous Sliding Mode Controller

2017 ◽  
Vol 23 (3) ◽  
Author(s):  
Abdullah Basci ◽  
Kaan Can ◽  
Kamil Orman ◽  
Adnan Derdiyok
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Trajectory Tracking Control ◽  
Aerial Vehicle

scholarly journals Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Chengshun Yang ◽  
Zhong Yang ◽  
Xiaoning Huang ◽  
Shaobin Li ◽  
Qiang Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Sliding Mode Disturbance Observer ◽  
Aerial Vehicle ◽  
Differential Expansion ◽  
Derivatives Of

Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV) is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO) is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND) is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

scholarly journals A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle

2020 ◽  
Vol 26 (4) ◽  
pp. 4-10
Author(s):  
Abdullah Basci ◽  
Adnan Derdiyok ◽  
Kaan Can ◽  
Kamil Orman
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Trajectory Tracking Control ◽  
Parameter Variations ◽  
Aerial Vehicle

In this paper, a fractional-order sliding mode controller (FOSMC) is designed and applied to a four rotor unmanned aerial vehicle (Quadrotor) to perform trajectory tracking for different time-varying references. Because quadrotor’s nonlinear system dynamics are effected by external disturbances and parameter variations easily, the FOSMC is used as a nonlinear controller and utilized its disturbance rejection characteristics to keep quadrotor on desired trajectory as well as overcome parameter variations. In order to indicate the priority of the FOSMC, an integer-order SMC (IOSMC) is also applied to quadrotor for the same references. The experimental results show that FOSMC is better than IOSMC in terms of error elimination and is good at dealing with parameter variations occurred while tracking the desired trajectory

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