Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking
The quadrotor unmanned aerial vehicles (UAV) systems have been getting more focus recently from researchers and engineers due to their outstanding impact and wide range of applications either in civilian or military. In this article, the sliding mode controller has been designed to control the attit...
Saved in:
Main Authors: | , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
University of Bahrain
2020
|
Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/89884/1/MohdFua%27adRahmat2020_RobustAdaptiveSlidingModeControl.pdf http://eprints.utm.my/id/eprint/89884/ http://dx.doi.org/10.12785/IJCDS/090210 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
id |
my.utm.89884 |
---|---|
record_format |
eprints |
spelling |
my.utm.898842021-03-04T02:45:33Z http://eprints.utm.my/id/eprint/89884/ Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking Ahmed Eltayeb, Ahmed Eltayeb Rahmat, Mohd. Fua'ad Mohammed Eltoum, M. A. Basri, M. A. M. TK Electrical engineering. Electronics Nuclear engineering The quadrotor unmanned aerial vehicles (UAV) systems have been getting more focus recently from researchers and engineers due to their outstanding impact and wide range of applications either in civilian or military. In this article, the sliding mode controller has been designed to control the attitude of the quadrotor as the inner loop controller. The major aim in this research is to reduce the chattering associated with the conventional sliding mode control (SMC), by implementing the adaptive fuzzy gain scheduling SMC technique (AFGS-SMC). Meanwhile, the performance of the proposed control has been evaluated in the presence of the model parameters uncertainty. The PD controller has been implemented as an outer loop controller to control the quadrotor position and supply the inner loop proposed controller (AFGS-SMC) with the desired generated quadrotor's attitude. Finally, the performance of the proposed AFGS-SMC controller has been evaluated by simulation in Matlab/Simulink platform, and compared with the classical SMC, in terms of chattering attenuation and robust trajectory tracking in the presence of the parameter uncertainty in the mass of the quadrotor UAV. University of Bahrain 2020-03 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/89884/1/MohdFua%27adRahmat2020_RobustAdaptiveSlidingModeControl.pdf Ahmed Eltayeb, Ahmed Eltayeb and Rahmat, Mohd. Fua'ad and Mohammed Eltoum, M. A. and Basri, M. A. M. (2020) Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking. International Journal of Computing and Digital Systems, 9 (2). pp. 249-257. ISSN 2210-142X http://dx.doi.org/10.12785/IJCDS/090210 |
institution |
Universiti Teknologi Malaysia |
building |
UTM Library |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Teknologi Malaysia |
content_source |
UTM Institutional Repository |
url_provider |
http://eprints.utm.my/ |
language |
English |
topic |
TK Electrical engineering. Electronics Nuclear engineering |
spellingShingle |
TK Electrical engineering. Electronics Nuclear engineering Ahmed Eltayeb, Ahmed Eltayeb Rahmat, Mohd. Fua'ad Mohammed Eltoum, M. A. Basri, M. A. M. Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking |
description |
The quadrotor unmanned aerial vehicles (UAV) systems have been getting more focus recently from researchers and engineers due to their outstanding impact and wide range of applications either in civilian or military. In this article, the sliding mode controller has been designed to control the attitude of the quadrotor as the inner loop controller. The major aim in this research is to reduce the chattering associated with the conventional sliding mode control (SMC), by implementing the adaptive fuzzy gain scheduling SMC technique (AFGS-SMC). Meanwhile, the performance of the proposed control has been evaluated in the presence of the model parameters uncertainty. The PD controller has been implemented as an outer loop controller to control the quadrotor position and supply the inner loop proposed controller (AFGS-SMC) with the desired generated quadrotor's attitude. Finally, the performance of the proposed AFGS-SMC controller has been evaluated by simulation in Matlab/Simulink platform, and compared with the classical SMC, in terms of chattering attenuation and robust trajectory tracking in the presence of the parameter uncertainty in the mass of the quadrotor UAV. |
format |
Article |
author |
Ahmed Eltayeb, Ahmed Eltayeb Rahmat, Mohd. Fua'ad Mohammed Eltoum, M. A. Basri, M. A. M. |
author_facet |
Ahmed Eltayeb, Ahmed Eltayeb Rahmat, Mohd. Fua'ad Mohammed Eltoum, M. A. Basri, M. A. M. |
author_sort |
Ahmed Eltayeb, Ahmed Eltayeb |
title |
Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking |
title_short |
Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking |
title_full |
Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking |
title_fullStr |
Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking |
title_full_unstemmed |
Robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking |
title_sort |
robust adaptive sliding mode control design for quadrotor unmanned aerial vehicle trajectory tracking |
publisher |
University of Bahrain |
publishDate |
2020 |
url |
http://eprints.utm.my/id/eprint/89884/1/MohdFua%27adRahmat2020_RobustAdaptiveSlidingModeControl.pdf http://eprints.utm.my/id/eprint/89884/ http://dx.doi.org/10.12785/IJCDS/090210 |
_version_ |
1693725959975337984 |
score |
13.159267 |