Open AccessDynamic sliding mode control with PID surface for trajectory tracking of a multirotor aircraft
Author(s) -
Jovani Ortega Ventura,
Daniel Benitez Morales,
Jesus P. Ordaz Oliver,
Eduardo S. Espinoza Quesada
Publication year - 2023
Publication title -
ieee access
Language(s) - English
Resource type - Journals
ISSN - 2169-3536
DOI - 10.1109/access.2023.3314382
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 paper deals with the design of a robust controller to attenuate matched and unmatched uncertain dynamics as well as external disturbances effects by considering the actuator bandwidth to stabilize the mechanical dynamics of an Unmanned Aerial Vehicle. To this end, the performance of a sliding mode controller is improved with the combination of the attractive ellipsoid method. Likewise, it is guaranteed that the system trajectory arrives into a minimal size invariant set in finite time by using a workable control input. Finally, in order to evaluate the effectiveness of the proposed control approach, a comparative study with a robust PD controller, an integral sliding mode controller and a dynamic sliding mode controller with PID sliding surface was conducted. In order to validate the effectiveness of the proposed controllers, the dynamics of a multirotor aircraft was used to conduct numerical simulations.