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December 25, 2019International Journal of Systems Science

Dual-loop integral sliding mode control for robust trajectory tracking of a quadrotor

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Authors

KWKai WangCHChangchun HuaJCJiannan Chen

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Overview

Simulation and experimental study demonstrates robust trajectory tracking in quadrotors using dual-loop sliding mode control, indicating improved flight stability under external disturbances.

Key Points

  • To develop and validate a robust control strategy for quadrotor trajectory tracking in the presence of nonlinear dynamics, model uncertainties, and external disturbances.
  • Formulated quadrotor kinematics and dynamics using the Newton–Euler method with system uncertainties.
  • Implemented a linear extended state observer to estimate unmodeled system dynamics and external aerodynamic disturbances.
  • Separated the system into translational and rotational subsystems, applying dual-loop integral sliding mode control for attitude tracking and hyperbolic function-based control for bounded position tracking.
  • Dual-loop integral sliding mode controller enabled simultaneous tracking of desired attitude angles and angular velocities.
  • Hyperbolic function-based translational controller achieved globally asymptotic stability with bounded, smooth control inputs.
  • Simulation and experimental trials verified robust trajectory tracking performance under unmodeled uncertainties and disturbances.

Cite This Study

Wang et al. (2019) studied this question.

synapsesocial.com/papers/6a7415d28ab8a3dde2eafe97https://doi.org/10.1080/00207721.2019.1622815
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