Adaptive Backstepping Sliding Mode Control for Quadrotor UAV
Quadrotor UAV has a strong mobility and flexibility in flight and has been widely used in military and civil fields in recent years. An adaptive backstepping sliding mode control (ABSMC) method is proposed to address the trajectory tracking control problem of quadrotor UAV based on actuator fault an...
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Series: | Scientific Programming |
Online Access: | http://dx.doi.org/10.1155/2021/3997648 |
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doaj-2ae6dbace44545cbabe48314dcfae25f2021-09-27T00:53:08ZengHindawi LimitedScientific Programming1875-919X2021-01-01202110.1155/2021/3997648Adaptive Backstepping Sliding Mode Control for Quadrotor UAVSibo Huang0Jianfeng Huang1Zhaoquan Cai2Han Cui3Network and Information CenterSchool of Electronic Information and Electrical EngineeringShanwei PolytechnicSchool of Electronic Information and Electrical EngineeringQuadrotor UAV has a strong mobility and flexibility in flight and has been widely used in military and civil fields in recent years. An adaptive backstepping sliding mode control (ABSMC) method is proposed to address the trajectory tracking control problem of quadrotor UAV based on actuator fault and external disturbance. In the proposed method, the switching gain of adaptive sliding mode control is constructed in the backstepping design process in order to suppress the chattering effect of sliding mode control effectively by differential iteration. Firstly, the dynamic model of quadrotor UAV with actuator fault and external disturbance is proposed, and then the controllers are designed based on the ABSMC method. Finally, the comparison experiments between sliding mode control (SMC) method and ABSMC method show that the ABSMC method can not only effectively suppress the chattering problem for the SMC method but also perform a perfect control effect.http://dx.doi.org/10.1155/2021/3997648 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Sibo Huang Jianfeng Huang Zhaoquan Cai Han Cui |
spellingShingle |
Sibo Huang Jianfeng Huang Zhaoquan Cai Han Cui Adaptive Backstepping Sliding Mode Control for Quadrotor UAV Scientific Programming |
author_facet |
Sibo Huang Jianfeng Huang Zhaoquan Cai Han Cui |
author_sort |
Sibo Huang |
title |
Adaptive Backstepping Sliding Mode Control for Quadrotor UAV |
title_short |
Adaptive Backstepping Sliding Mode Control for Quadrotor UAV |
title_full |
Adaptive Backstepping Sliding Mode Control for Quadrotor UAV |
title_fullStr |
Adaptive Backstepping Sliding Mode Control for Quadrotor UAV |
title_full_unstemmed |
Adaptive Backstepping Sliding Mode Control for Quadrotor UAV |
title_sort |
adaptive backstepping sliding mode control for quadrotor uav |
publisher |
Hindawi Limited |
series |
Scientific Programming |
issn |
1875-919X |
publishDate |
2021-01-01 |
description |
Quadrotor UAV has a strong mobility and flexibility in flight and has been widely used in military and civil fields in recent years. An adaptive backstepping sliding mode control (ABSMC) method is proposed to address the trajectory tracking control problem of quadrotor UAV based on actuator fault and external disturbance. In the proposed method, the switching gain of adaptive sliding mode control is constructed in the backstepping design process in order to suppress the chattering effect of sliding mode control effectively by differential iteration. Firstly, the dynamic model of quadrotor UAV with actuator fault and external disturbance is proposed, and then the controllers are designed based on the ABSMC method. Finally, the comparison experiments between sliding mode control (SMC) method and ABSMC method show that the ABSMC method can not only effectively suppress the chattering problem for the SMC method but also perform a perfect control effect. |
url |
http://dx.doi.org/10.1155/2021/3997648 |
work_keys_str_mv |
AT sibohuang adaptivebacksteppingslidingmodecontrolforquadrotoruav AT jianfenghuang adaptivebacksteppingslidingmodecontrolforquadrotoruav AT zhaoquancai adaptivebacksteppingslidingmodecontrolforquadrotoruav AT hancui adaptivebacksteppingslidingmodecontrolforquadrotoruav |
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1716867379067092992 |