Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances
Year: 2024
Type: article
Abstract: The paper addresses the challenging issue of trajectory tracking for uncertain quadrotor UAVs, particularly under the constraints of input saturation and external disturbances. It introduces adaptive laws for managing uncertainties in mass and inertia moments without requiring prior knowledge, ensuring effective control even with varying system parameters. To counteract the effects of input saturation, the study incorporates an auxiliary system designed to compensate for these limitations. Additionally, a disturbance observer(DO) is utilized to manage and mitigate the impact of time-varying external disturbances. The proposed control strategy integrates a sliding mode adaptive control approach with an inner-outer loop structure, enhancing robustness and adaptability. Numerical simulations demonstrate the effectiveness of the designed control strategy.
Source: Drones
Authors: Jingyang Kuang, Mou Chen
Institution: Nanjing University of Aeronautics and Astronautics
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,955
OpenAlex ID: W4403810839