Robust Optimal Higher-order-observer-based Dynamic Sliding Mode Control for VTOL Unmanned Aerial Vehicles

This paper investigates the precise trajectory tracking of unmanned aerial vehicles (UAV) capable of vertical take-off and landing (VTOL) subjected to external disturbances. For this reason, a robust higher-order-observer-based dynamic sliding mode controller (HOB-DSMC) is developed and optimized us...

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Bibliographic Details
Published in:International journal of automation and computing 2021-10, Vol.18 (5), p.802-813
Main Authors: Mousavi, Yashar, Zarei, Amin, Mousavi, Arash, Biari, Mohsen
Format: Article
Language:English
Subjects:
Algorithms
CAE) and Design
Computer Applications
Computer-Aided Engineering (CAD
Control
Control stability
Controllers
Engineering
Feedback control
Heuristic methods
Mechatronics
Research Article
Robotics
Robustness
Sliding mode control
Stability analysis
Tracking errors
Unmanned aerial vehicles
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Summary:This paper investigates the precise trajectory tracking of unmanned aerial vehicles (UAV) capable of vertical take-off and landing (VTOL) subjected to external disturbances. For this reason, a robust higher-order-observer-based dynamic sliding mode controller (HOB-DSMC) is developed and optimized using the fractional-order firefly algorithm (FOFA). In the proposed scheme, the sliding surface is defined as a function of output variables, and the higher-order observer is utilized to estimate the unmeasured variables, which effectively alleviate the undesirable effects of the chattering phenomenon. A neighboring point close to the sliding surface is considered, and as the tracking error approaches this point, the second control is activated to reduce the control input. The stability analysis of the closed-loop system is studied based on Lyapunov stability theorem. For a better study of the proposed scheme, various trajectory tracking tests are provided, where accurate tracking and strong robustness can be simultaneously ensured. Comparative simulation results validate the proposed control strategy’s effectiveness and its superiorities over conventional sliding mode controller (SMC) and integral SMC approaches.
ISSN:1476-8186
1751-8520
DOI:10.1007/s11633-021-1282-3