Finite Time Sliding Mode Control for Chattering Reduction in Unmanned Aerial Vehicles with Dynamic Payloads | Zendy

Imil Hamda Imran | Zendy; Dilek Funda Kurtulus | Zendy; Taiba Kouser | Zendy; Azhar M. Memon | Zendy; Luai Muhammad Alhems | Zendy; Srikanth Goli | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Finite Time Sliding Mode Control for Chattering Reduction in Unmanned Aerial Vehicles with Dynamic Payloads

Author(s) -

Imil Hamda Imran,

Dilek Funda Kurtulus,

Taiba Kouser,

Azhar M. Memon,

Luai Muhammad Alhems,

Srikanth Goli

Publication year - 2025

Publication title -

ieee access

Language(s) - English

Resource type - Magazines

SCImago Journal Rank - 0.587

H-Index - 127

eISSN - 2169-3536

DOI - 10.1109/access.2025.3598131

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This study proposes a finite-time tracking control system for an unmanned aerial vehicle (UAV) in the presence of dynamic payloads and external disturbances. Changes in payload result in time-varying parametric uncertainties, making traditional control strategies ineffective. A sliding mode control (SMC) scheme is designed to handle uncertainties in both translational and rotational dynamics. A finite-time SMC (FTSMC) approach is developed to handle unknown time-varying mass and external disturbances in the translational dynamics. Furthermore, differences in the payload influence the inertia characteristics of the UAV, introducing further uncertainties in the feedback control design. A finite-time sliding mode controller is also implemented for rotational dynamics to guarantee the attitude stabilization under unknown inertia parameter variations. The proposed method has the objective to attenuate the chattering effect associated with traditional SMC within a finite time frame. Theoretical stability analysis with rigorous mathematical proofs is presented to confirm the effectiveness of the control scheme. Numerical simulations are provided to validate its performance under dynamic operating conditions.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research