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. Drones2024, 8, 67.
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.
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. Drones2024, 8, 67.
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.
Abstract
To address the trajectory tracking issue for quadrotors working under the influence of external disturbances, a control scheme is designed for position and attitude trajectory tracking. Firstly, the quadrotor dynamic model is derived for control design. Secondly, adaptive integral backstepping control (AIBS) is employed in the position loop in which adaptive estimation is used to estimate the upper bounds of disturbances. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) is proposed to follow desired Euler angles. The intro-duction of fast nonsingular terminal sliding mode and integral element is to realize fast convergence and accurate tracking. Dead zone technique is applied to minimize estimation errors. Besides, a saturation function is utilized to eliminate chattering phenomenon. Finally, simulation experiments are conducted under the Simulink environment. The proposed control is verified by comparing it with traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS).
Keywords
quadrotor UAV; trajectory tracking control; adaptive estimation; backstepping control; sliding mode control; dead zone technique; saturation function
Subject
Engineering, Aerospace Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
