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Article

Iterative Learning Sliding Mode Control for UAV Trajectory Tracking

1
School of Electrical and Data Engineering, University of Technology Sydney (UTS), 15 Broadway, Ultimo, NSW 2007, Australia
2
VNU University of Engineering and Technology (VNU-UET), Vietnam National University, Hanoi (VNU), 144 Xuan Thuy, Cau Giay, Hanoi 100000, Vietnam
*
Author to whom correspondence should be addressed.
Academic Editor: Umberto Papa
Electronics 2021, 10(20), 2474; https://doi.org/10.3390/electronics10202474
Received: 19 September 2021 / Revised: 5 October 2021 / Accepted: 5 October 2021 / Published: 12 October 2021
(This article belongs to the Special Issue Unmanned Aircraft Systems with Autonomous Navigation)
This paper presents a novel iterative learning sliding mode controller (ILSMC) that can be applied to the trajectory tracking of quadrotor unmanned aerial vehicles (UAVs) subject to model uncertainties and external disturbances. Here, the proposed ILSMC is integrated in the outer loop of a controlled system. The control development, conducted in the discrete-time domain, does not require a priori information of the disturbance bound as with conventional SMC techniques. It only involves an equivalent control term for the desired dynamics in the closed loop and an iterative learning term to drive the system state toward the sliding surface to maintain robust performance. By learning from previous iterations, the ILSMC can yield very accurate tracking performance when a sliding mode is induced without control chattering. The design is then applied to the attitude control of a 3DR Solo UAV with a built-in PID controller. The simulation results and experimental validation with real-time data demonstrate the advantages of the proposed control scheme over existing techniques. View Full-Text
Keywords: iterative learning; sliding mode control; unmanned arial vehicles; trajectory tracking iterative learning; sliding mode control; unmanned arial vehicles; trajectory tracking
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MDPI and ACS Style

Nguyen, L.V.; Phung, M.D.; Ha, Q.P. Iterative Learning Sliding Mode Control for UAV Trajectory Tracking. Electronics 2021, 10, 2474. https://doi.org/10.3390/electronics10202474

AMA Style

Nguyen LV, Phung MD, Ha QP. Iterative Learning Sliding Mode Control for UAV Trajectory Tracking. Electronics. 2021; 10(20):2474. https://doi.org/10.3390/electronics10202474

Chicago/Turabian Style

Nguyen, Lanh V., Manh D. Phung, and Quang P. Ha. 2021. "Iterative Learning Sliding Mode Control for UAV Trajectory Tracking" Electronics 10, no. 20: 2474. https://doi.org/10.3390/electronics10202474

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