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Sliding mode control design for the attitude and altitude of the quadrotor UAV

International Journal on Smart Sensing and Intelligent Systems
Volume 13 (2020): Issue 1 (January 2020)
By:
Open Access
|Jul 2020

Figures & Tables

Figure 1:

Quadrotor UAV configuration.
Quadrotor UAV configuration.

Figure 2:

Motions of the quadrotor UAV system.
Motions of the quadrotor UAV system.

Figure 3:

The block diagram of the feedback linearization (FBL).
The block diagram of the feedback linearization (FBL).

Figure 4:

Simulated switching (sign) function against error (erf) function.
Simulated switching (sign) function against error (erf) function.

Figure 5:

The attitude tracking by using the quadrotor’s nominal parameters for the conventional SMC, FBL, and proposed SMC controller.
The attitude tracking by using the quadrotor’s nominal parameters for the conventional SMC, FBL, and proposed SMC controller.

Figure 6:

The altitude tracking by using the quadrotor’s nominal parameters for the conventional SMC, FBL, and proposed SMC controller.
The altitude tracking by using the quadrotor’s nominal parameters for the conventional SMC, FBL, and proposed SMC controller.

Figure 7:

The tracking errors in the altitude by using the quadrotor’s nominal parameters for conventional SMC, FBL, and the proposed controllers.
The tracking errors in the altitude by using the quadrotor’s nominal parameters for conventional SMC, FBL, and the proposed controllers.

Figure 8:

The control inputs of the quadrotor for the FBL controller.
The control inputs of the quadrotor for the FBL controller.

Figure 9:

The control inputs of the quadrotor for the conventional SMC controller.
The control inputs of the quadrotor for the conventional SMC controller.

Figure 10:

The control inputs of the quadrotor for the proposed SMC controller.
The control inputs of the quadrotor for the proposed SMC controller.

Figure 11:

Pulse-type external disturbance applied to the quadrotor attitude control inputs.
Pulse-type external disturbance applied to the quadrotor attitude control inputs.

Figure 12:

Pulse-type external disturbance applied to the quadrotor altitude control inputs.
Pulse-type external disturbance applied to the quadrotor altitude control inputs.

Figure 13:

The quadrotor’s attitude using the conventional SMC, FBL, and the proposed SMC controllers with the added %100 uncertainty in mass along with the external disturbance.
The quadrotor’s attitude using the conventional SMC, FBL, and the proposed SMC controllers with the added %100 uncertainty in mass along with the external disturbance.

Figure 14:

The quadrotor’s attitude tracking errors using the conventional SMC, FBL, and the proposed SMC controllers with the added %100 uncertainty in mass along with the external disturbance.
The quadrotor’s attitude tracking errors using the conventional SMC, FBL, and the proposed SMC controllers with the added %100 uncertainty in mass along with the external disturbance.

Figure 15:

The quadrotor’s altitude using the conventional SMC, FBL, and the proposed SMC controllers with the added %100 uncertainty in mass along with the external disturbance.
The quadrotor’s altitude using the conventional SMC, FBL, and the proposed SMC controllers with the added %100 uncertainty in mass along with the external disturbance.

Figure 16:

The quadrotor’s altitude tracking errors using the conventional SMC, FBL, and the proposed SMC controllers with the added %100 uncertainty in mass along with the external disturbance.
The quadrotor’s altitude tracking errors using the conventional SMC, FBL, and the proposed SMC controllers with the added %100 uncertainty in mass along with the external disturbance.

Figure 17:

The control inputs of the quadrotor for FBL controllers with %100 added uncertainty in mass and the external disturbances.
The control inputs of the quadrotor for FBL controllers with %100 added uncertainty in mass and the external disturbances.

Figure 18:

The control inputs of the quadrotor for the proposed SMC controllers with %100 added uncertainty in mass and the external disturbances.
The control inputs of the quadrotor for the proposed SMC controllers with %100 added uncertainty in mass and the external disturbances.

Figure 19:

The control inputs of the quadrotor for conventional SMC controller with %100 added uncertainty in mass and external disturbances.
The control inputs of the quadrotor for conventional SMC controller with %100 added uncertainty in mass and external disturbances.

SMC controller parameters_

Parameter𝝓𝜽𝝍 z
k 1001001000.001
k1 10101010
k2 10101010

Parameters of the quadrotor model_

DescriptionSymbolsValuesUnits
The quadrotor’s massm65  ×  10−2 kg
x-axis inertia Ix 7.5  ×  10−3 kgm2
y-axis inertia Iy 7.5 × 10−3 kgm2
z-axis inertia Iz 1.3 × 10−2 kgm2
Thrust coefficient b 3.13 × 10−5 Ns2
Drag coefficient d 7.5 × 10−7 Nms2
Inertia of the rotor Jr 6 × 10−5 kgm2
Length of the arm l 23 × 10−2 m

PID controller parameters for the linearized model_

Parameter z
P 30303060
I 88820
D 88880
DOI: https://doi.org/10.21307/ijssis-2020-011 | Journal eISSN: 1178-5608
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Language: English
Page range: 1 - 13
Submitted on: Aug 19, 2018
Published on: Jul 1, 2020
Published by: Professor Subhas Chandra Mukhopadhyay
In partnership with: Paradigm Publishing Services
Publication frequency: 1 issue per year
Keywords:
Quadrotor UAV,
Sliding mode control,
Feedback linearization,
PID control,
Chattering
Related subjects:
Engineering,
Introductions and overviews,
Engineering, other

© 2020 Ahmed Eltayeb, Mohd Fua’ad Rahmat, Mohd Ariffanan Mohd Basri, published by Professor Subhas Chandra Mukhopadhyay
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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