Quaternion-based position control of a quadrotor unmanned aerial vehicle using robust nonlinear third-order sliding mode control with disturbance cancellation
Restricted accessResearch articleFirst published online March, 2020
Quaternion-based position control of a quadrotor unmanned aerial vehicle using robust nonlinear third-order sliding mode control with disturbance cancellation
In this paper, we propose a robust nonlinear position and attitude control method for quadrotor using higher order sliding mode control concept. The control of quadrotor is realized in an inner- and outer-loop structure. Both inner- (attitude control) and outer (position control)-loop controllers are synthesized using third-order sliding mode control. The attitude control is designed in a quaternion framework to avoid gimbal lock and for better computational efficiency. A low-pass filter is used to reduce the effect of chattering in higher order sliding mode. A disturbance observer is designed for disturbance estimation. The robustness of proposed control method is ensured by providing the disturbance compensation term in the control law. Lyapunov stability analysis is provided for both inner- and outer-loop controls. Numerical results show that the proposed method provides effective control solution under continuous disturbance/uncertainties due to unmodeled dynamics, parameter variations, and external disturbance with high position accuracy.
ValavanisKPVachtsevanosGJ. Handbook of unmanned aerial vehicles, Dordrecht: Springer, 2015.
2.
Komatsu S, Katsunaga K, Ozawa R, et al. Power transmission to a micro aerial vehicle. In: 45th AIAA Aerospace Sciences Meeting and Exhibit, Reno, Nevada, 8–11 January.
3.
Ma’sum MA, Arrofi MK, Jati G, et al. Simulation of intelligent unmanned aerial vehicle (UAV) for military surveillance. In: ICACSIS 2013: 5th International Conference on Advanced Computer Science and Information Systems, Kuta, Bali, 28–29 September 2013.
4.
PerezDMazaICaballeroF, et al.A ground control station for a multi-UAV surveillance system. J Intell Robot Syst2013; 69: 119–130.
5.
NedjatiAVizvariBIzbirakG. Post-earthquake response by small UAV helicopters. Nat Hazards2016; 80: 1669–1688.
6.
Khan S, Jaffery MH, Hanif A, et al. Teaching tool for a control systems laboratory using a quadrotor as a plant in MATLAB. IEEE Trans Educ 2017; 60: 249–256.
7.
Hoffmann G, Huang H, Wslander S, et al. Quadrotor helicopter flight dynamics and control: theory and experiment. In: AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Head, South Carolina, 20–23 August 2007.
8.
Zhao SL, An HL and Zhang DB. A new feedback linearization LQR control for attitude of quadrotor. In: 13th international conference on control automation robotics & vision (ICARCV), Singapore, December 2014, pp.1593–1597.
9.
Iskandarani M, Givigi SN, Rabbath CA, et al. Linear model predictive control for the encirclement of a target using a quadrotor aircraft. In: 21st Mediterranean conference on control & automation (MED), Platanias-Chania, Crete, Greece, June 2013.
DasASubbaraoKLewisF. Dynamic inversion with zero-dynamics stabilization for quadrotor control. IET Control Theory Appl2009; 3: 303–314.
12.
ShiXSunYShaoX. Robust output feedback trajectory tracking for quadrotors. Proc IMechE, Part G: J Aerospace Engineering2018; 233: 1596–1610.
13.
DasALewisFSubbaraoK. Backstepping approach for controlling a quadrotor using Lagrange form dynamics. J Intell Robot Syst2009; 56: 127–151.
14.
AhmedBPotaHRGarrattM. Flight control of a rotary wing UAV using backstepping. Int J Robust Nonlinear Control2010; 20: 639–658.
15.
ChenFJiangRZhangK, et al.Robust backstepping sliding-mode control and observer-based fault estimation for a quadrotor UAV. IEEE Trans Ind Electron2016; 63: 5044–5056.
16.
JiaZ. Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances. Aerosp Sci Technol2017; 68: 299–307.
17.
DjamelKAbdellahMBenallegueA. Attitude optimal backstepping controller based quaternion for a UAV. Math Prob Eng2016; 2016: 1–11.
18.
AmbatiPRPadhiR. A neuro-adaptive augmented dynamic inversion design for robust auto-landing. IFAC Proc Vol2014; 47: 12202–12207.
19.
ChoiIHBangHC. Quadrotor-tracking controller design using adaptive dynamic feedback-linearization method. Proc IMechE, Part G: J Aerospace Engineering2013; 228: 2329–2342.
AntonelliGCataldiEArrichielloF, et al.Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances. IEEE Trans Control Syst Technol2018; 26: 248–254.
22.
DierksTJagannathanS. Output feedback control of a quadrotor UAV using neural networks. IEEE Trans Neural Netw2010; 21: 50–66.
23.
EfeMO. Neural network assisted computationally simple PIλDμcontrol of a quadrotor UAV. IEEE Trans Ind Inform2011; 7: 354–361.
24.
MeguenniKZTaharMBenhadriaMR, et al.Fuzzy integral sliding mode based on backstepping control synthesis for an autonomous helicopter. Proc IMechE, Part G: J Aerospace Engineering2012; 227: 751–765.
25.
BasriMAHussainARDanapalasingamKA. A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance. Proc IMechE, Part G: J Aerospace Engineering2015; 229: 2178–2195.
26.
KimDW. Fuzzy model-based control of a quadrotor. Fuzzy Sets Syst2018; 371: 136–147.
27.
UtkinVA. Sliding modes in control and optimization, Berlin: Springer, 1992.
28.
HungJYGaoWHungJC. Variable structure control: a survey. IEEE Trans Ind Electron1993; 40: 2–22.
29.
LevantA. Chattering analysis. IEEE Trans Autom Control2010; 55: 1380–1389.
30.
DerafaLBenallegueAFridmanL. Super twisting control algorithm for the attitude tracking of a four rotors UAV. J Franklin Inst2012; 349: 685–699.
31.
KawamuraAItohHSakamotoK. Chattering reduction of disturbance observer based sliding mode control. IEEE Trans Ind Appl1994; 30: 456–461.
32.
KamalSBandyopadhyayB. Higher order sliding mode control: a control Lyapunov function based approach. WSEAS Trans Syst Control2014; 9: 38–46.
33.
Wang N, Su SF, Han M, et al. Backpropagating constraints-based trajectory tracking control for a quadrotor with constrained actuator dynamics and complex unknowns. IEEE Trans Syst Man Cybernet Syst 2018; 49: 1322–1337.
34.
VenkataramanSTGulatiS. Control of nonlinear systems using terminal sliding modes. J Dyn Syst Meas Control1993; 115: 554–560.
35.
Vaidyanathan S and Lien CH. Applications of sliding mode control in science and engineering. Studies in Computational Intelligence. New York: Springer, 2018.
36.
WangHYeXTianY, et al.Model-free-based terminal SMC of quadrotor attitude and position. IEEE Trans Aerosp Elect Syst2016; 52: 2519–2528.
37.
Xu B. Composite learning finite-time control with application to quadrotors. IEEE Trans Syst Man Cybernet Syst 2017; 48: 1806–1815.
38.
HamayunMTEdwardsCAlwiH. Fault tolerant control schemes using integral sliding modes, Cham: Springer International Publishing AG Switzerland, 2016.
39.
WangNDengQXieG, et al.Hybrid finite-time trajectory tracking control of a quadrotor. ISA Trans2019; 90: 278–286.
40.
MuBZhangKShiY. Integral sliding mode flight controller design for a quadrotor and the application in a heterogeneous multi-agent system. IEEE Trans Ind Electron2017; 64: 278–286.
41.
ShtesselYEdwardsCFridmanL, et al.Sliding mode control and observation, Basel: Birkhauser, 2014.
42.
DinuzzoFFerraraA. Higher order sliding mode controller with optimal reaching. IEEE Trans Autom Control2009; 54: 2126–2136.
43.
VanMGeSSRenH. Robust fault-tolerant control for a class of second-order nonlinear systems using an adaptive third-order sliding mode control. IEEE Trans Syst Man Cybernet Syst2017; 47: 221–228.
44.
MishraJPXuQYuX, et al.Precision position tracking for piezoelectric-driven motion system using continuous third-order sliding mode control. IEEE/ASME Trans Mechatron2018; 23: 1521–1531.
45.
BeardRWMcLainTW. Small unmanned aircraft: theory and practice, Princeton, NJ: Princeton University Press, 2012.
46.
KuipersJ. Quaternions and rotation sequences: a primer with applications to orbits, aerospace and virtual reality, Princeton, NJ: Princeton University Press, 2002.
47.
SongCKimSJKimSH, et al.Robust control of the missile attitude based on quaternion feedback. Control Eng Pract2006; 14: 811–818.
48.
CosticBTDawsonDM. Quaternion-based adaptive tracking controller without velocity measurement. J Guid Control Dyn2001; 24: 1214–1222.
49.
ShearerCMCesnikCE. Trajectory control for very flexible aircraft. J Guid Control Dyn2008; 31: 340–357.
50.
DouJKongXChenX, et al.Output feedback observer-based dynamic surface controller for quadrotor UAV using quaternion representation. Proc IMechE, Part G: J Aerospace Engineering2016; 231: 2537–2548.
51.
LiuHWangXZhongY. Quaternion-based robust attitude control for uncertain robotic quadrotors. IEEE Trans Ind Inform2015; 11: 406–415.
52.
ZhaCDingXYuY, et al.Quaternion-based nonlinear trajectory tracking control of a quadrotor unmanned aerial vehicle. Chinese J Mech Eng2017; 30: 77–92.
53.
CaoNLynchAF. Inner-outer loop control for quadrotor UAVs with input and state constraints. IEEE Trans Control Syst Technol2016; 24: 1797–1804.
54.
QuanQ. Introduction to multicopter design and control, New York: Springer, 2016.
55.
KawamuraAItohHSakamotoK. Chattering reduction of disturbance observer based sliding mode control. IEEE Trans Ind Appl1994; 30: 456–461.
