MIMO Adaptive High-Order Sliding Mode Control for Quadrotor Attitude Tracking

AbstractThis paper addresses the attitude tracking control problem for a quadrotor considering model uncertainty and internal and external disturbances. A high-order sliding mode control scheme and a control gain adaptation law are proposed for a class of nonlinear multiinput multioutput (MIMO) syst...

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Bibliographic Details
Published in:Journal of aerospace engineering 2021-07, Vol.34 (4)
Main Authors: Jiang, Sen, Liu, Chunsheng, Gao, Yuxin
Format: Article
Language:English
Subjects:
Adaptive control
Attitude control
Control methods
Control systems design
Degrees of freedom
MIMO (control systems)
Sliding mode control
Technical Papers
Tracking control
Tracking errors
Uncertainty
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Summary:AbstractThis paper addresses the attitude tracking control problem for a quadrotor considering model uncertainty and internal and external disturbances. A high-order sliding mode control scheme and a control gain adaptation law are proposed for a class of nonlinear multiinput multioutput (MIMO) systems to design an attitude controller for a quadrotor. The proposed control method has four advantages: (1) Boundary information of the uncertainties is not necessary; (2) The control signal is continuous, and hence, chattering effects can be attenuated; (3) The measurements of the system state are only the output variable and its first time derivative, which makes this approach very useful in practical applications; and (4) The complexity of the control structure is reduced via the proposed control scheme. Finite time convergence of the tracking errors is achieved, robustness against uncertainty is ensured, and control precision is significantly improved over conventional sliding mode control (SMC). The effectiveness of the presented method was verified through a case study comparison and six-degree-of-freedom (6-DOF) simulations.
ISSN:0893-1321
1943-5525
DOI:10.1061/(ASCE)AS.1943-5525.0001271