An Improved Design of an Adaptive Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadcopter UAV
Quadcopter unmanned aerial vehicles (UAVs) systems are receiving remarkable attention from researchers due to their daily use in numerous applications, particularly at the current time where UAVs are playing a significant role in combating the COVID-19 pandemic. This paper is concerned with the prob...
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| Format: | Article |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9257349/ |
| _version_ | 1818727455911837696 |
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| author | Ahmed Eltayeb Mohd Fua'ad Rahmat Mohd Ariffanan Mohd Basri M. A Mohammed Eltoum Sami El-Ferik |
| author_facet | Ahmed Eltayeb Mohd Fua'ad Rahmat Mohd Ariffanan Mohd Basri M. A Mohammed Eltoum Sami El-Ferik |
| author_sort | Ahmed Eltayeb |
| collection | DOAJ |
| description | Quadcopter unmanned aerial vehicles (UAVs) systems are receiving remarkable attention from researchers due to their daily use in numerous applications, particularly at the current time where UAVs are playing a significant role in combating the COVID-19 pandemic. This paper is concerned with the problem of UAV navigation and control in the presence of uncertainty and external disturbances. It addresses this issue by proposing an improved adaptive sliding mode control (IASMC). Improved control law generates an adaptive switching gain achieving fast adaptation and robustness against both parameter uncertainties and external disturbances. Simultaneously, the control law allows for maintaining robust trajectory tracking with chattering attenuation. The performance of the proposed IASMC controller has been evaluated using a Matlab/Simulink platform. The obtained simulation results showed that the proposed IASMC control scheme as an inner loop controller is robust when dealing with uncertainties and can effectively track the desired trajectories while significantly attenuating the well-known chattering introduced by the SMC controller. |
| first_indexed | 2024-12-17T22:14:23Z |
| format | Article |
| id | doaj.art-53175193ff724fd5a5f12ba304637c84 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-17T22:14:23Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-53175193ff724fd5a5f12ba304637c842022-12-21T21:30:39ZengIEEEIEEE Access2169-35362020-01-01820596820597910.1109/ACCESS.2020.30375579257349An Improved Design of an Adaptive Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadcopter UAVAhmed Eltayeb0https://orcid.org/0000-0002-9151-4116Mohd Fua'ad Rahmat1Mohd Ariffanan Mohd Basri2M. A Mohammed Eltoum3https://orcid.org/0000-0002-0853-0650Sami El-Ferik4https://orcid.org/0000-0001-5648-4786School of Electrical Engineering, Universiti Teknologi Malaysia, Johor, MalaysiaSchool of Electrical Engineering, Universiti Teknologi Malaysia, Johor, MalaysiaSchool of Electrical Engineering, Universiti Teknologi Malaysia, Johor, MalaysiaSystems Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran, Saudi ArabiaSystems Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran, Saudi ArabiaQuadcopter unmanned aerial vehicles (UAVs) systems are receiving remarkable attention from researchers due to their daily use in numerous applications, particularly at the current time where UAVs are playing a significant role in combating the COVID-19 pandemic. This paper is concerned with the problem of UAV navigation and control in the presence of uncertainty and external disturbances. It addresses this issue by proposing an improved adaptive sliding mode control (IASMC). Improved control law generates an adaptive switching gain achieving fast adaptation and robustness against both parameter uncertainties and external disturbances. Simultaneously, the control law allows for maintaining robust trajectory tracking with chattering attenuation. The performance of the proposed IASMC controller has been evaluated using a Matlab/Simulink platform. The obtained simulation results showed that the proposed IASMC control scheme as an inner loop controller is robust when dealing with uncertainties and can effectively track the desired trajectories while significantly attenuating the well-known chattering introduced by the SMC controller.https://ieeexplore.ieee.org/document/9257349/Quadcopter UAVPID controlleradaptive controlSMC controltype-2 fuzzy logicchattering |
| spellingShingle | Ahmed Eltayeb Mohd Fua'ad Rahmat Mohd Ariffanan Mohd Basri M. A Mohammed Eltoum Sami El-Ferik An Improved Design of an Adaptive Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadcopter UAV IEEE Access Quadcopter UAV PID controller adaptive control SMC control type-2 fuzzy logic chattering |
| title | An Improved Design of an Adaptive Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadcopter UAV |
| title_full | An Improved Design of an Adaptive Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadcopter UAV |
| title_fullStr | An Improved Design of an Adaptive Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadcopter UAV |
| title_full_unstemmed | An Improved Design of an Adaptive Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadcopter UAV |
| title_short | An Improved Design of an Adaptive Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadcopter UAV |
| title_sort | improved design of an adaptive sliding mode controller for chattering attenuation and trajectory tracking of the quadcopter uav |
| topic | Quadcopter UAV PID controller adaptive control SMC control type-2 fuzzy logic chattering |
| url | https://ieeexplore.ieee.org/document/9257349/ |
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