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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...

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Main Author: Mohd. Basri, Mohd. Ariffanan
Format: Article
Published: Cambridge University Press 2018
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/86090/
http://dx.doi.org/10.1017/S0263574718000668
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spelling my.utm.860902020-08-30T08:56:04Z http://eprints.utm.my/id/eprint/86090/ Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot Mohd. Basri, Mohd. Ariffanan TK Electrical engineering. Electronics Nuclear engineering 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. Cambridge University Press 2018-11-01 Article PeerReviewed Mohd. Basri, Mohd. Ariffanan (2018) Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot. Robotica, 36 (11). pp. 1680-1700. ISSN 0263-5747 http://dx.doi.org/10.1017/S0263574718000668 DOI:10.1017/S0263574718000668
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/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohd. Basri, Mohd. Ariffanan
Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot
description 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.
format Article
author Mohd. Basri, Mohd. Ariffanan
author_facet Mohd. Basri, Mohd. Ariffanan
author_sort Mohd. Basri, Mohd. Ariffanan
title Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot
title_short Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot
title_full Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot
title_fullStr Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot
title_full_unstemmed Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot
title_sort design and application of an adaptive backstepping sliding mode controller for a six-dof quadrotor aerial robot
publisher Cambridge University Press
publishDate 2018
url http://eprints.utm.my/id/eprint/86090/
http://dx.doi.org/10.1017/S0263574718000668
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score 13.244404

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