Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances
Abstract
:1. Introduction
- A new control scheme is introduced for quadrotors under subjection to external disturbances.
- The proposed ABFNITSM control is characterized by strong robustness against nonlinearities and external disturbances, offering quicker responsivity and more precise tracking compared to traditional control methods.
- With the implementation of adaptive estimation, the controller parameters can be updated online, streamlining the tuning process. Furthermore, the dead zone technique was employed to compensate for disturbances.
- A new, differentiable saturation function was utilized to eradicate chattering efficiently.
- The stability of the quadrotor trajectory tracking control system was verified by the application of Lyapunov theory.
2. Dynamic Model of the Quadrotor
3. Control Scheme Design
3.1. Position-Tracking Control Design
- AIBS control design step 1:
- AIBS control design step 2:
- Proof of stability of position-tracking control:
- Adaptive laws:
3.2. Attitude-Tracking Control Design
- ABFNITSM control design step 1:
- ABFNITSM control design step 2:
- Adaptive estimation algorithm:
- Dead zone technique:
- Proof of the stability of attitude-tracking control:
4. Results
4.1. Case1
4.2. Case2
5. Conclusions
6. Future Work
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Appendix A
Appendix A.1. Assumptions
- The quadrotor structure is symmetric.
- The geometric center of the quadrotor coincides with its center of gravity.
- The forces and torques generated by air friction are proportional to the quadrotor’s velocity and the square of the quadrotor’s angular velocity, respectively.
- External disturbances enter the system in the form of acceleration.
- The forces and moments generated by the motors are proportional to the square of the motor speeds.
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Parameter | Value | Meaning |
---|---|---|
m | 0.56 kg | the mass of the quadrotor |
g | 9.8 | gravitational acceleration |
d | 0.3 m | distance between the center of gravity and the rotation axis of one motor |
moment of inertia about x-axis | ||
moment of inertia about x-axis | ||
moment of inertia about x-axis | ||
force coefficient during one motor rotation | ||
torque coefficient during one motor rotation | ||
drag coefficient due to air resistance | ||
drag torque coefficient due to air resistance |
Parameter | Value |
---|---|
0.01 | |
4.25 | |
2.5 | |
28.5, 50, 28.5 | |
6, 6, 12 | |
3 | |
2.5 | |
1.7 |
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Jiao, S.; Wang, J.; Hua, Y.; Zhuang, Y.; Yu, X. Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances. Drones 2024, 8, 67. https://doi.org/10.3390/drones8020067
Jiao S, Wang J, Hua Y, Zhuang Y, Yu X. Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances. Drones. 2024; 8(2):67. https://doi.org/10.3390/drones8020067
Chicago/Turabian StyleJiao, Shipeng, Jun Wang, Yuchen Hua, Ye Zhuang, and Xuetian Yu. 2024. "Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances" Drones 8, no. 2: 67. https://doi.org/10.3390/drones8020067