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Nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors
Author(s) -
Zou Yao
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3607
Subject(s) - control theory (sociology) , controller (irrigation) , sliding mode control , nonlinear system , underactuation , adaptive control , computer science , position (finance) , trajectory , constraint (computer aided design) , robust control , thrust , control engineering , engineering , control system , control (management) , artificial intelligence , physics , quantum mechanics , economics , biology , electrical engineering , mechanical engineering , finance , astronomy , aerospace engineering , agronomy
Summary This paper exploits a nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors subject to thrust constraint and inertial parameter uncertainty to accomplish trajectory tracking missions. Because of under‐actuated nature of the quadrotor, a hierarchical control strategy is available; and position and attitude loop controllers are synthesized according to adaptive sliding mode control projects, where adaptive updates with projection algorithm are developed to ensure bounded estimations for uncertain inertial parameters. Further, during the position loop controller development, an auxiliary dynamic system is introduced, and selection criteria for controller parameters are established to maintain the thrust constraint and to ensure the non‐singular requirement of command attitude extraction. It has demonstrated that, the asymptotically stable trajectory tracking can be realized by the asymptotically stable cascaded closed‐loop system and auxiliary dynamic system. Simulations validate and highlight the proposed control approach. Copyright © 2016 John Wiley & Sons, Ltd.