Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances

Shipeng Jiao; Jun Wang; Yuchen Hua; Ye Zhuang; Xuetian Yu

doi:10.3390/drones8020067

journal article Open Access Feb 17, 2024

Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances

Shipeng Jiao Jun Wang

Yuchen Hua Ye Zhuang

Xuetian Yu

Drones Vol. 8 No. 2 pp. 67 · MDPI AG

View at Publisher Save 10.3390/drones8020067

Abstract

In the face of external disturbances affecting the trajectory tracking of quadrotors, a control scheme targeted at accurate position and attitude trajectory tracking was designed. Initially, a quadrotor dynamic model, essential for control design, was derived. Adaptive integral backstepping control (AIBS) was then employed within the position loop, enabling the upper boundaries of disturbances to be estimated through adaptive estimation. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) was proposed to enable adherence to the desired Euler angles. Rapid convergence and accurate tracking were facilitated by the incorporation of the nonsingular terminal sliding mode and an integral component. The dead zone technique was deployed to curtail estimation errors, while a saturation function was used to eradicate the phenomenon of chattering. Finally, to validate the proposed control scheme, simulation experiments were conducted in the Simulink environment, and the results were contrasted with those obtained from traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS), providing evidence of the effectiveness of the proposed method.

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References

Details

Published: Feb 17, 2024
Vol/Issue: 8(2)
Pages: 67
License: View

Authors

S

Shipeng Jiao

State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China

J

Jun Wang

Intelligent Game and Decision Lab (IGDL), Academy of Military Sciences, Beijing 100091, China

Y

Yuchen Hua

Intelligent Game and Decision Lab (IGDL), Academy of Military Sciences, Beijing 100091, China

Y

Ye Zhuang

State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China

X

Xuetian Yu

State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China

Cite This Article

Shipeng Jiao, Jun Wang, Yuchen Hua, et al. (2024). Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances. Drones, 8(2), 67. https://doi.org/10.3390/drones8020067

Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances

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