In this article, a new dynamic non-singular terminal sliding mode control technique for a quadrotor system subjected to external disturbances is evaluated. The offered control approach is based on non-singular terminal sliding mode controller combined with proportional–integral–derivative sliding surface to improve the performance. The proposed controller is formulated using the Lyapunov theory which ensured the existence of the sliding mode surfaces in finite time. Furthermore, the chattering problem, caused by the switching position and attitude laws, has been reduced using the proposed controller. Moreover, a high-precision performance trajectory tracking can be obtained. The problem of the disturbances is addressed using the suggested controller. Simulation results show the feasibility and efficiency of the non-singular terminal sliding mode control-proportional–integral–derivative proposed approach.
HassanalianMAbdelkefiA.Classifications, applications, and design challenges of drones: a review. Prog Aerosp Sci2017; 91: 99–131.
2.
ShakhatrehHSawalmehAHAl-FuqahaA, et al. Unmanned aerial vehicles (UAVs): a survey on civil applications and key research challenges. IEEE Access2019; 7: 48572–48634.
3.
HoffmannGMHuangHWaslanderSL, et al. Precision flight control for a multi-vehicle quadrotor helicopter testbed. Control Eng Pract2011; 19: 1023–1036.
4.
ChenDLiSWuQ.A novel supertwisting zeroing neural network with application to mobile robot manipulators. IEEE Trans Neur Netw Learn Syst2021; 32: 1776–1787.
5.
LiJWangJPengH, et al. Fuzzy-torque approximation-enhanced sliding mode control for lateral stability of mobile robot. IEEE Trans Syst Man Cyb Syst. Epub ahead of print 28January2021. DOI: 10.1109/TSMC.2021.3050616.
6.
ZhaoBXianBZhangY, et al. Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology. IEEE Trans Ind Electron2015; 62: 2891–2902.
7.
LabbadiMCherkaouiM.Robust adaptive backstepping fast terminal sliding mode controller for uncertain quadrotor UAV. Aerosp Sci Technol2019; 93: 105306.
8.
XiongJJZhangGB.Global fast dynamic terminal sliding mode control for a quadrotor UAV. ISA Trans2017; 66: 233–240.
9.
BouzidYSiguerdidjaneHBestaouiY.Nonlinear internal model control applied to VTOL multi-rotors UAV. Mechatronics2017; 47: 49–66.
10.
LabbadiMCherkaouiM.Robust integral terminal sliding mode control for quadrotor UAV with external disturbances. Int J Aerosp Eng2019; 2019: 2016416.
11.
Miranda-ColoradoRAguilarLT.Robust PID control of quadrotors with power reduction analysis. ISA Trans2020; 98: 47–62.
12.
LabbadiMCherkaouiMEl HoumY, et al. A comparative analysis of control strategies for stabilizing a quadrotor. In: RochaÁSerrhiniM (eds) Information systems and technologies to support learning (EMENA-ISTL 2018: smart innovation, systems and technologies), vol. 111. Cham: Springer, 2019.
13.
LiuJGaiWZhangJ, et al. Nonlinear adaptive backstepping with ESO for the quadrotor trajectory tracking control in the multiple disturbances. Int J Control Autom Syst2019; 17(11): 2754–2768.
14.
ZhangYChenZSunM.Trajectory tracking control for a quadrotor unmanned aerial vehicle based on dynamic surface active disturbance rejection control. Trans Inst Meas Control2020; 42: 2198–2205.
15.
ZhangJRenZDengC, et al. Adaptive fuzzy global sliding mode control for trajectory tracking of quadrotor UAVs. Nonlin Dyn2019; 97: 609–627.
16.
AlexisKNikolakopoulosGTzesA.Experimental constrained optimal attitude control of a quadrotor subject to wind disturbances. Int J Control Autom Syst2014; 12: 1289–1302.
17.
AnsariUBajodahAHKadaB.Development and experimental investigation of a quadrotor’s robust generalized dynamic inversion control system. Nonlin Dyn2019; 96: 1541–1557.
18.
CabecinhasDNaldiRSilvestreC, et al. Robust landing and sliding maneuver hybrid controller for a quadrotor vehicle. IEEE Trans Control Syst Technol2016; 24(2): 400–412.
19.
ThanhHLNNHongSK. Robust dynamic sliding mode control-based PID-super twisting algorithm and disturbance observer for second-order nonlinear systems: application to UAVs. Electronics2019; 8(7): 760.
20.
FloresGGonzález-HuitronVRodríguez-MataAE.Output feedback control for a quadrotor aircraft using an adaptive high gain observer. Int J Control Autom Syst2020; 18: 1474–1486.
21.
ModirroustaAKhodabandehM.Adaptive non-singular terminal sliding mode controller: new design for full control of the quadrotor with external disturbances. Trans Inst Meas Control2016; 39(3): 371–383.
22.
HuaCCWangKChenJN, et al. Tracking differentiator and extended state observer-based nonsingular fast terminal sliding mode attitude control for a quadrotor. Nonlin Dyn2018; 94: 343–354.
23.
WuWJinXTangY.Vision-based trajectory tracking control of quadrotors using super twisting sliding mode control. Cyb-Phys Syst2020; 6: 207–230.
24.
WuXXiaoBQuY.Modeling and sliding mode-based attitude tracking control of a quadrotor UAV with time-varying mass. ISA Trans. Epub ahead of print 17August2019. DOI: 10.1016/j.isatra.2019.08.017
25.
ZhaoLDaiLXiaY, et al. Attitude control for quadrotors subjected to wind disturbances via active disturbance rejection control and integral sliding mode control. Mech Syst Signal Pr2019; 129: 531–545.
26.
LabbadiMCherkaouiM.Novel robust super twisting integral sliding mode controller for a quadrotor under external disturbances. Int J Dyn Control2020; 8: 805–815.
27.
FengYYuXManZ.Non-singular terminal sliding mode control of rigid manipulators. Automatica2002; 38(12): 2159–2167.
28.
LiuWFengZBiA.A novel nonsingular terminal sliding mode control combined with global sliding surface for uncertain nonlinear second-order systems. Trans Inst Meas Control2020; 42: 1294–1300.
29.
FreireFPMartinsNASplendorF.A simple optimization method for tuning the gains of PID controllers for the autopilot of Cessna 182 aircraft using model-in-the-loop platform. J Cont Autom Electr Syst2018; 29: 441–450.
30.
MehtaURojasR.Smith predictor based sliding mode control for a class of unstable processes. Trans Inst Meas Control2017; 39: 706–714.
31.
BasriMAM. Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot. Robotica2018; 36: 1701–1727.
32.
ChenFJiangRZhangK, et al. Robust backstepping sliding-mode control and observer-based fault estimation for a quadrotor UAV. IEEE Trans Ind Electron2016; 63: 5044–5056.
33.
VoosH. Nonlinear control of a quadrotor micro-UAV using feedback-linearization. In: Proceedings of the IEEE international conference on mechatronics, Malaga, 14–17 April 2009. New York: IEEE.
