Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot

The quadrotor aerial robot is a complex system and its dynamics involve nonlinearity, uncertainty, and coupling. In this paper, an adaptive backstepping sliding mode control (ABSMC) is presented for stabilizing, tracking, and position control of a quadrotor aerial robot subjected to external disturb...

全面介绍

Saved in:
书目详细资料
主要作者: Mohd. Basri, Mohd. Ariffanan
格式: Article
出版: Cambridge University Press 2018
主题:
在线阅读:http://eprints.utm.my/id/eprint/86090/
http://dx.doi.org/10.1017/S0263574718000668
标签: 添加标签
没有标签, 成为第一个标记此记录!
实物特征
总结:The quadrotor aerial robot is a complex system and its dynamics involve nonlinearity, uncertainty, and coupling. In this paper, an adaptive backstepping sliding mode control (ABSMC) is presented for stabilizing, tracking, and position control of a quadrotor aerial robot subjected to external disturbances. The developed control structure integrates a backstepping and a sliding mode control approach. A sliding surface is introduced in a Lyapunov function of backstepping design in order to further improve robustness of the system. To attenuate a chattering problem, a saturation function is used to replace a discontinuous sign function. Moreover, to avoid a necessity for knowledge of a bound of external disturbance, an online adaptation law is derived. Particle swarm optimization (PSO) algorithm has been adopted to find parameters of the controller. Simulations using a dynamic model of a six degrees of freedom (DOF) quadrotor aerial robot show the effectiveness of the approach in performing stabilization and position control even in the presence of external disturbances.