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Position and attitude tracking control for a quadrotor UAV.

Jing-Jing Xiong1, En-Hui Zheng1

  • 1College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, PR China.

ISA Transactions
|February 19, 2014
PubMed
Summary

This study introduces a novel synthesis control method for small quadrotor unmanned aerial vehicles (UAVs). The robust terminal sliding mode control (TSMC) ensures precise position and attitude tracking, even with external disturbances.

Keywords:
Novel robust TSMCQuadrotor UAVSMCSynthesis controlUnderactuated

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Aerospace Engineering

Background:

  • Quadrotor unmanned aerial vehicles (UAVs) present complex control challenges due to their underactuated, nonlinear, and highly coupled dynamics.
  • Effective control strategies are crucial for achieving stable and accurate position and attitude tracking in UAVs.

Purpose of the Study:

  • To propose a robust synthesis control method for small quadrotor UAVs.
  • To address the challenges posed by underactuated, nonlinear, and coupled dynamics in UAV control.
  • To ensure precise position and attitude tracking performance under external disturbances.

Main Methods:

  • The quadrotor's dynamical model is decomposed into fully actuated and underactuated subsystems.
  • A robust terminal sliding mode control (TSMC) algorithm is developed for the fully actuated subsystem, ensuring rapid state variable convergence.
  • Sliding mode control (SMC) is applied to the underactuated subsystem, leveraging the time-invariant approximation of the fully actuated subsystem states.
  • Lyapunov theory is employed to rigorously demonstrate the stability of both subsystems.

Main Results:

  • The proposed TSMC algorithm guarantees swift convergence of state variables in the fully actuated subsystem.
  • The synthesis control method effectively achieves position and attitude tracking for the quadrotor UAV.
  • Simulation results confirm the method's robustness against external disturbances, including aerodynamic forces, moments, and air drag.

Conclusions:

  • The developed synthesis control method offers a viable solution for controlling underactuated, nonlinear quadrotor UAVs.
  • The approach demonstrates significant robustness and high performance in position and attitude tracking tasks.
  • This control strategy enhances the operational capabilities of small UAVs in complex environments.