Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching Law
In this study, a sliding-mode controller is designed using an adaptive reaching law with a super-twisting algorithm. A dynamic model of a drone is designed with a quadrotor that has four motors and considers disturbances and model uncertainties. Given that the drone operates as an under-actuated sys...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
|
| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/7/8/522 |
| _version_ | 1797584986453311488 |
|---|---|
| author | Hyeongki Ahn Mingyuan Hu Yoonuh Chung Kwanho You |
| author_facet | Hyeongki Ahn Mingyuan Hu Yoonuh Chung Kwanho You |
| author_sort | Hyeongki Ahn |
| collection | DOAJ |
| description | In this study, a sliding-mode controller is designed using an adaptive reaching law with a super-twisting algorithm. A dynamic model of a drone is designed with a quadrotor that has four motors and considers disturbances and model uncertainties. Given that the drone operates as an under-actuated system, its flight stability and maneuverability are influenced by the discontinuous signal produced by the reaching law of the sliding-mode control. Therefore, this study aims to improve the sliding-mode control and stability of drone flight using the proposed adaptive law, which is based on exponential properties. The discontinuous signal of a conventional strategy is overcome using the super-twisting algorithm, and the drone rapidly reaches equilibrium using the proposed adaptive law that utilizes the sliding surface value. The proposed control strategy covers a higher dimension than the conventional sliding-mode control strategy; the system stability is proven using the strict Lyapunov function. The reaching time estimation results are introduced and used to compare the respective reaching times of the control strategies. To verify the superior performance of the proposed control method, multiple experiments are conducted under various situations and realizations. The simulation results prove that the proposed control method achieved a superior rapid response, stable maneuvering, and robustness with shorter reaching time. |
| first_indexed | 2024-03-11T00:00:24Z |
| format | Article |
| id | doaj.art-8c57a3af69814ba997a2bcbebffbc502 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-11T00:00:24Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-8c57a3af69814ba997a2bcbebffbc5022023-11-19T00:50:31ZengMDPI AGDrones2504-446X2023-08-017852210.3390/drones7080522Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching LawHyeongki Ahn0Mingyuan Hu1Yoonuh Chung2Kwanho You3Department of Electrical and Computer Engineering, Sungkyunkwan University, Suwon 16419, Republic of KoreaDepartment of Smart Fab. Technology, Sungkyunkwan University, Suwon 16419, Republic of KoreaDepartment of Electrical and Computer Engineering, Sungkyunkwan University, Suwon 16419, Republic of KoreaDepartment of Electrical and Computer Engineering, Sungkyunkwan University, Suwon 16419, Republic of KoreaIn this study, a sliding-mode controller is designed using an adaptive reaching law with a super-twisting algorithm. A dynamic model of a drone is designed with a quadrotor that has four motors and considers disturbances and model uncertainties. Given that the drone operates as an under-actuated system, its flight stability and maneuverability are influenced by the discontinuous signal produced by the reaching law of the sliding-mode control. Therefore, this study aims to improve the sliding-mode control and stability of drone flight using the proposed adaptive law, which is based on exponential properties. The discontinuous signal of a conventional strategy is overcome using the super-twisting algorithm, and the drone rapidly reaches equilibrium using the proposed adaptive law that utilizes the sliding surface value. The proposed control strategy covers a higher dimension than the conventional sliding-mode control strategy; the system stability is proven using the strict Lyapunov function. The reaching time estimation results are introduced and used to compare the respective reaching times of the control strategies. To verify the superior performance of the proposed control method, multiple experiments are conducted under various situations and realizations. The simulation results prove that the proposed control method achieved a superior rapid response, stable maneuvering, and robustness with shorter reaching time.https://www.mdpi.com/2504-446X/7/8/522quadrotor dronesliding-mode controlsuper-twisting algorithmstrict Lyapunov stabilityadaptive control |
| spellingShingle | Hyeongki Ahn Mingyuan Hu Yoonuh Chung Kwanho You Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching Law Drones quadrotor drone sliding-mode control super-twisting algorithm strict Lyapunov stability adaptive control |
| title | Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching Law |
| title_full | Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching Law |
| title_fullStr | Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching Law |
| title_full_unstemmed | Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching Law |
| title_short | Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching Law |
| title_sort | sliding mode control for flight stability of quadrotor drone using adaptive super twisting reaching law |
| topic | quadrotor drone sliding-mode control super-twisting algorithm strict Lyapunov stability adaptive control |
| url | https://www.mdpi.com/2504-446X/7/8/522 |
| work_keys_str_mv | AT hyeongkiahn slidingmodecontrolforflightstabilityofquadrotordroneusingadaptivesupertwistingreachinglaw AT mingyuanhu slidingmodecontrolforflightstabilityofquadrotordroneusingadaptivesupertwistingreachinglaw AT yoonuhchung slidingmodecontrolforflightstabilityofquadrotordroneusingadaptivesupertwistingreachinglaw AT kwanhoyou slidingmodecontrolforflightstabilityofquadrotordroneusingadaptivesupertwistingreachinglaw |