Finite Time Adaptive SMC for UAV Trajectory Tracking Under Unknown Disturbances and Actuators Constraints
This paper deals with the quadrotor craft trajectory tracking problem subject to unknown disturbance and actuator constraints. A new adaptive sliding mode control (ASMC) with finite-time convergence characteristics is proposed to guarantee quadrotor hovering in spite of parametric uncertainties and...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10168832/ |
| _version_ | 1826949224635301888 |
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| author | Khelil Sidi Brahim Ahmed El Hajjaji Nadjiba Terki David Lara Alabazares |
| author_facet | Khelil Sidi Brahim Ahmed El Hajjaji Nadjiba Terki David Lara Alabazares |
| author_sort | Khelil Sidi Brahim |
| collection | DOAJ |
| description | This paper deals with the quadrotor craft trajectory tracking problem subject to unknown disturbance and actuator constraints. A new adaptive sliding mode control (ASMC) with finite-time convergence characteristics is proposed to guarantee quadrotor hovering in spite of parametric uncertainties and external disturbances. Compared with conventional sliding mode controller (SMC), the proposed adaptive algorithm has been developed for the vehicle altitude and attitude control, with unknown bounded of lumped uncertainties. This approach is based on a dynamical adaptive control law to avoid the overestimation and to ensure the convergence in a finite time. In addition, to solve the actuator saturation problem an auxiliary system is used. Stability analysis is demonstrated via Lyapunov theory, exhibiting that the proposed control strategy ensures that all signals of the closed-loop system are bounded and that the tracking errors are bounded in finite time. Numerical simulations and experimental results are given to illustrate the effectiveness of the proposed method, in which a comparative study with conventional SMC found in literature has been made. Experimental validation of the control strategy is carried-out using the parrot mambo mini-UAV. |
| first_indexed | 2024-03-13T00:28:18Z |
| format | Article |
| id | doaj.art-a6f15333d43540bd8c937236528a07a4 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2025-02-17T22:03:46Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a6f15333d43540bd8c937236528a07a42024-12-05T00:00:39ZengIEEEIEEE Access2169-35362023-01-0111661776619310.1109/ACCESS.2023.329134710168832Finite Time Adaptive SMC for UAV Trajectory Tracking Under Unknown Disturbances and Actuators ConstraintsKhelil Sidi Brahim0https://orcid.org/0009-0004-9346-2091Ahmed El Hajjaji1https://orcid.org/0000-0002-7564-3620Nadjiba Terki2David Lara Alabazares3https://orcid.org/0000-0001-5510-1990Department of Electrical Engineering, LMSE Laboratory, University of Biskra, Biskra, AlgeriaModeling, Information and Systems Laboratory, University of Picardie Jules Verne, Amiens, FranceDepartment of Electrical Engineering, LESIA Laboratory, University of Biskra, Biskra, AlgeriaPostgraduate Department, Higher Technological Institute of Misantla, National Technological Institute of Mexico, Misantla, MexicoThis paper deals with the quadrotor craft trajectory tracking problem subject to unknown disturbance and actuator constraints. A new adaptive sliding mode control (ASMC) with finite-time convergence characteristics is proposed to guarantee quadrotor hovering in spite of parametric uncertainties and external disturbances. Compared with conventional sliding mode controller (SMC), the proposed adaptive algorithm has been developed for the vehicle altitude and attitude control, with unknown bounded of lumped uncertainties. This approach is based on a dynamical adaptive control law to avoid the overestimation and to ensure the convergence in a finite time. In addition, to solve the actuator saturation problem an auxiliary system is used. Stability analysis is demonstrated via Lyapunov theory, exhibiting that the proposed control strategy ensures that all signals of the closed-loop system are bounded and that the tracking errors are bounded in finite time. Numerical simulations and experimental results are given to illustrate the effectiveness of the proposed method, in which a comparative study with conventional SMC found in literature has been made. Experimental validation of the control strategy is carried-out using the parrot mambo mini-UAV.https://ieeexplore.ieee.org/document/10168832/Adaptive sliding mode controlinput saturation constraintstrajectory tracking |
| spellingShingle | Khelil Sidi Brahim Ahmed El Hajjaji Nadjiba Terki David Lara Alabazares Finite Time Adaptive SMC for UAV Trajectory Tracking Under Unknown Disturbances and Actuators Constraints IEEE Access Adaptive sliding mode control input saturation constraints trajectory tracking |
| title | Finite Time Adaptive SMC for UAV Trajectory Tracking Under Unknown Disturbances and Actuators Constraints |
| title_full | Finite Time Adaptive SMC for UAV Trajectory Tracking Under Unknown Disturbances and Actuators Constraints |
| title_fullStr | Finite Time Adaptive SMC for UAV Trajectory Tracking Under Unknown Disturbances and Actuators Constraints |
| title_full_unstemmed | Finite Time Adaptive SMC for UAV Trajectory Tracking Under Unknown Disturbances and Actuators Constraints |
| title_short | Finite Time Adaptive SMC for UAV Trajectory Tracking Under Unknown Disturbances and Actuators Constraints |
| title_sort | finite time adaptive smc for uav trajectory tracking under unknown disturbances and actuators constraints |
| topic | Adaptive sliding mode control input saturation constraints trajectory tracking |
| url | https://ieeexplore.ieee.org/document/10168832/ |
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