Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances
In the face of external disturbances affecting the trajectory tracking of quadrotors, a control scheme targeted at accurate position and attitude trajectory tracking was designed. Initially, a quadrotor dynamic model, essential for control design, was derived. Adaptive integral backstepping control...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/8/2/67 |
| _version_ | 1797298439060455424 |
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| author | Shipeng Jiao Jun Wang Yuchen Hua Ye Zhuang Xuetian Yu |
| author_facet | Shipeng Jiao Jun Wang Yuchen Hua Ye Zhuang Xuetian Yu |
| author_sort | Shipeng Jiao |
| collection | DOAJ |
| description | In the face of external disturbances affecting the trajectory tracking of quadrotors, a control scheme targeted at accurate position and attitude trajectory tracking was designed. Initially, a quadrotor dynamic model, essential for control design, was derived. Adaptive integral backstepping control (AIBS) was then employed within the position loop, enabling the upper boundaries of disturbances to be estimated through adaptive estimation. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) was proposed to enable adherence to the desired Euler angles. Rapid convergence and accurate tracking were facilitated by the incorporation of the nonsingular terminal sliding mode and an integral component. The dead zone technique was deployed to curtail estimation errors, while a saturation function was used to eradicate the phenomenon of chattering. Finally, to validate the proposed control scheme, simulation experiments were conducted in the Simulink environment, and the results were contrasted with those obtained from traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS), providing evidence of the effectiveness of the proposed method. |
| first_indexed | 2024-03-07T22:35:55Z |
| format | Article |
| id | doaj.art-c7133ccc59d145f2b8a30f9f894a0ee9 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-07T22:35:55Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-c7133ccc59d145f2b8a30f9f894a0ee92024-02-23T15:14:14ZengMDPI AGDrones2504-446X2024-02-01826710.3390/drones8020067Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External DisturbancesShipeng Jiao0Jun Wang1Yuchen Hua2Ye Zhuang3Xuetian Yu4State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, ChinaIntelligent Game and Decision Lab (IGDL), Academy of Military Sciences, Beijing 100091, ChinaIntelligent Game and Decision Lab (IGDL), Academy of Military Sciences, Beijing 100091, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, ChinaIn the face of external disturbances affecting the trajectory tracking of quadrotors, a control scheme targeted at accurate position and attitude trajectory tracking was designed. Initially, a quadrotor dynamic model, essential for control design, was derived. Adaptive integral backstepping control (AIBS) was then employed within the position loop, enabling the upper boundaries of disturbances to be estimated through adaptive estimation. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) was proposed to enable adherence to the desired Euler angles. Rapid convergence and accurate tracking were facilitated by the incorporation of the nonsingular terminal sliding mode and an integral component. The dead zone technique was deployed to curtail estimation errors, while a saturation function was used to eradicate the phenomenon of chattering. Finally, to validate the proposed control scheme, simulation experiments were conducted in the Simulink environment, and the results were contrasted with those obtained from traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS), providing evidence of the effectiveness of the proposed method.https://www.mdpi.com/2504-446X/8/2/67quadrotor UAVtrajectory-tracking controladaptive estimationbackstepping controlsliding mode controldead zone technique |
| spellingShingle | Shipeng Jiao Jun Wang Yuchen Hua Ye Zhuang Xuetian Yu Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances Drones quadrotor UAV trajectory-tracking control adaptive estimation backstepping control sliding mode control dead zone technique |
| title | Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances |
| title_full | Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances |
| title_fullStr | Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances |
| title_full_unstemmed | Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances |
| title_short | Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances |
| title_sort | trajectory tracking control for quadrotors using an adaptive integral terminal sliding mode under external disturbances |
| topic | quadrotor UAV trajectory-tracking control adaptive estimation backstepping control sliding mode control dead zone technique |
| url | https://www.mdpi.com/2504-446X/8/2/67 |
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