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An improved trajectory tracking control of quadcopter using a novel Sliding Mode Control with Fuzzy PID Surface.

PloS one·2024
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An improved nonsingular adaptive super twisting sliding mode controller for quadcopter.

Nardos Belay Abera1, Chala Merga Abdissa1, Lebsework Negash Lemma1

  • 1School of Electrical and Computer Engineering, Addis Ababa University, Addis Ababa, Ethiopia.

Plos One
|October 10, 2024
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Summary
This summary is machine-generated.

This study introduces a novel adaptive super twisting sliding mode control for quadrotor systems, significantly improving tracking accuracy and disturbance rejection. The advanced controller ensures stable flight performance even with unknown external disturbances.

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Area of Science:

  • Robotics and Control Systems
  • Aerospace Engineering
  • Applied Mathematics

Background:

  • Quadrotor systems are susceptible to external disturbances and model uncertainties, impacting tracking performance.
  • Existing sliding mode controllers often suffer from chattering and limitations in handling unknown disturbance bounds.

Purpose of the Study:

  • To develop a nonsingular adaptive super twisting sliding mode control (SMC) for enhanced quadrotor tracking.
  • To mitigate chattering and improve robustness against external disturbances and uncertainties.

Main Methods:

  • Utilized Newton-Quaternion formalism for a singularity-free quadrotor dynamic model.
  • Developed a novel SMC using the super twisting algorithm to reduce chattering.
  • Employed Particle Swarm Optimization (PSO) for controller gain tuning.
  • Applied a Lyapunov stability-based adaptive rule for unknown disturbance bounds.

Main Results:

  • Achieved significant reductions in tracking errors: 0.1% (roll), 0.05% (pitch), and 2.2% (altitude).
  • Demonstrated superior disturbance rejection with minimal steady-state errors: 0.01° (roll), 0.02° (pitch), and 0.001° (yaw).
  • Outperformed existing state-of-the-art sliding mode controllers in simulations.

Conclusions:

  • The proposed controller offers robust tracking and effective disturbance rejection for quadrotor UAVs.
  • The controller's performance indicates feasibility for real-time implementation in unmanned aerial vehicles.
  • This advancement contributes to more reliable and precise quadrotor flight control systems.