Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor
In this paper, an Improved Integral Power Rate Exponential Reaching Law (IIPRERL) Sliding Mode Control strategy has been presented to cater to the chattering problem and stability issue with the focusing on to achieve minimum steady-state errors in the presence of matched disturbances for a quadroto...
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2020-01-01
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| author | Irfan Ahmad Muwaida Liaquat Fahad Mumtaz Malik Hameed Ullah Usman Ali |
| author_facet | Irfan Ahmad Muwaida Liaquat Fahad Mumtaz Malik Hameed Ullah Usman Ali |
| author_sort | Irfan Ahmad |
| collection | DOAJ |
| description | In this paper, an Improved Integral Power Rate Exponential Reaching Law (IIPRERL) Sliding Mode Control strategy has been presented to cater to the chattering problem and stability issue with the focusing on to achieve minimum steady-state errors in the presence of matched disturbances for a quadrotor. Control strategies have been implemented on quadrotor which is 6 Degree of Freedom (DOF) underactuated model and it is derived via Newton-Euler(NE) equations. The main focus of this article is to design two flight control strategies for a quadrotor. Firstly, a novel IIPRERL-SMC is designed through Improved Integral Sliding Mode Control (II-SMC) via proper gain scheduling by system Eigenvalues. The control objective is to construct a controller such that would force the state trajectories to approach the sliding surface with an exponential policy. Meanwhile, a strong condition for reaching the law of sliding surface via Hurwitz stability has been introduced to the hovering of the quadrotor. Secondly, kinodynamic Rapidly Exploring Random Tree with Fixed Node (RRT*FN) which is an incremental sampling-based optimal algorithm has been implemented for online navigation and flight control of the quadrotor system. Online planning which is based on the offline one, is given on-board radar readings which gradually produces a smooth 3-D trajectory aiming at reaching a predetermined target in an unknown environment. The performance and stability of the quadrotor are completely examined by utilizing Lyapunov stability analysis. Simulations are presented to verify that the proposed scheme is effective with Hurwitz stability for both translational and rotational parts of the quadrotor. |
| format | Article |
| id | doaj-art-84e50a0d3c9344c581d8cbd2d12abfdb |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | IEEE |
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| series | IEEE Access |
| spelling | doaj-art-84e50a0d3c9344c581d8cbd2d12abfdb2025-02-07T00:00:50ZengIEEEIEEE Access2169-35362020-01-01822781022782410.1109/ACCESS.2020.30416789274320Variants of the Sliding Mode Control in Presence of External Disturbance for QuadrotorIrfan Ahmad0https://orcid.org/0000-0001-6075-2464Muwaida Liaquat1Fahad Mumtaz Malik2Hameed Ullah3Usman Ali4Department of Electrical Engineering, College of Electrical and Mechanical Engineering (EME), National University of Sciences and Technology, Islamabad, PakistanDepartment of Electrical Engineering, College of Electrical and Mechanical Engineering (EME), National University of Sciences and Technology, Islamabad, PakistanDepartment of Electrical Engineering, College of Electrical and Mechanical Engineering (EME), National University of Sciences and Technology, Islamabad, PakistanDepartment of Electrical Engineering, College of Electrical and Mechanical Engineering (EME), National University of Sciences and Technology, Islamabad, PakistanDepartment of Electrical Engineering, College of Electrical and Mechanical Engineering (EME), National University of Sciences and Technology, Islamabad, PakistanIn this paper, an Improved Integral Power Rate Exponential Reaching Law (IIPRERL) Sliding Mode Control strategy has been presented to cater to the chattering problem and stability issue with the focusing on to achieve minimum steady-state errors in the presence of matched disturbances for a quadrotor. Control strategies have been implemented on quadrotor which is 6 Degree of Freedom (DOF) underactuated model and it is derived via Newton-Euler(NE) equations. The main focus of this article is to design two flight control strategies for a quadrotor. Firstly, a novel IIPRERL-SMC is designed through Improved Integral Sliding Mode Control (II-SMC) via proper gain scheduling by system Eigenvalues. The control objective is to construct a controller such that would force the state trajectories to approach the sliding surface with an exponential policy. Meanwhile, a strong condition for reaching the law of sliding surface via Hurwitz stability has been introduced to the hovering of the quadrotor. Secondly, kinodynamic Rapidly Exploring Random Tree with Fixed Node (RRT*FN) which is an incremental sampling-based optimal algorithm has been implemented for online navigation and flight control of the quadrotor system. Online planning which is based on the offline one, is given on-board radar readings which gradually produces a smooth 3-D trajectory aiming at reaching a predetermined target in an unknown environment. The performance and stability of the quadrotor are completely examined by utilizing Lyapunov stability analysis. Simulations are presented to verify that the proposed scheme is effective with Hurwitz stability for both translational and rotational parts of the quadrotor.https://ieeexplore.ieee.org/document/9274320/Artificial intelligenceImproved Integral Sliding Mode ControlLyapunov’s controllerRapidly growing Random TreeVertical Take-Off Landing (VTOL) |
| spellingShingle | Irfan Ahmad Muwaida Liaquat Fahad Mumtaz Malik Hameed Ullah Usman Ali Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor IEEE Access Artificial intelligence Improved Integral Sliding Mode Control Lyapunov’s controller Rapidly growing Random Tree Vertical Take-Off Landing (VTOL) |
| title | Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor |
| title_full | Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor |
| title_fullStr | Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor |
| title_full_unstemmed | Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor |
| title_short | Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor |
| title_sort | variants of the sliding mode control in presence of external disturbance for quadrotor |
| topic | Artificial intelligence Improved Integral Sliding Mode Control Lyapunov’s controller Rapidly growing Random Tree Vertical Take-Off Landing (VTOL) |
| url | https://ieeexplore.ieee.org/document/9274320/ |
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