Open AccessA Robust Hybrid Control for Autonomous Flying Robots in an Uncertain and Disturbed Environment
Author(s) -
Yunes Sh. Alqudsi,
Abdel Meguid Kassem,
Gamal El-Bayoumi
Publication year - 2021
Publication title -
incas buletin
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.282
H-Index - 10
eISSN - 2247-4528
pISSN - 2066-8201
DOI - 10.13111/2066-8201.2021.13.2.17
Subject(s) - control theory (sociology) , robustness (evolution) , control engineering , robot , trajectory , convergence (economics) , computer science , sliding mode control , agile software development , robust control , nonlinear system , engineering , control system , control (management) , artificial intelligence , quantum mechanics , gene , economic growth , biochemistry , chemistry , physics , software engineering , electrical engineering , astronomy , economics
With the aim of efficiently achieving complex trajectory tracking missions in the presence of model uncertainties and exogenous disturbances, this paper proposes a robust hybrid control for the orientation and position of flying robots by adopting insights from sliding mode, geometric tracking, and nonlinear feedback control strategies. Various retrofits are implemented to the composite control scheme in order to tackle the system uncertainties, eliminate the chattering effects, and enhance the trajectory tracking performance. The convergence and stability analysis demonstrated the asymptotic stability of the proposed control algorithm. To reveal the promising performance of the developed control schemes, a qualitative comparative analysis of different proposed control approaches is performed. The comparative analysis examines highly maneuverable trajectories for various tracking scenarios in the presence of uncertain disturbances. The simulation results demonstrated the versatility, robustness, and convergence of the developed control laws that allow autonomous flying robots to effectively perform agile maneuvers.