Open AccessA Robust Backstepping Sliding Mode Controller with Chattering-Free Strategy for a Swarm of Drones
Author(s) -
Adeel Zaidi,
Muhammad Kazim,
Hui Wang
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2213/1/012007
Subject(s) - control theory (sociology) , backstepping , controller (irrigation) , lyapunov function , sliding mode control , fuzzy logic , lyapunov stability , computer science , trajectory , exponential stability , control engineering , fuzzy control system , mode (computer interface) , engineering , adaptive control , nonlinear system , control (management) , artificial intelligence , physics , quantum mechanics , astronomy , agronomy , biology , operating system
This paper presents a robust controller for a swarm of drones that are subjected to external disturbances. Integrating a fuzzy-based system in the sliding mode control technique, a chattering-free controller is proposed for the trajectory tracking of a drone. Furthermore, the formation controller for a group of drones is developed using the Backstepping control design technique. The integration of a fuzzy rule-based system in the sliding mode tracking controller enables overcoming the inherent chattering problem due to discontinuous switching function in the sliding mode control technique and provides smooth and chattering-free control signals. The asymptotic stability of the overall system is shown using the Lyapunov stability theory. Finally, the control design performance is evaluated using numerical simulations.