Regular Papers

International Journal of Control, Automation and Systems 2020; 18(2): 415-430

Published online September 23, 2019

https://doi.org/10.1007/s12555-019-0116-3

© The International Journal of Control, Automation, and Systems

Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV

Karam Eliker and Weidong Zhang*

Shanghai Jiao Tong University

Abstract

This paper presents a reliable and novel quadrotor flight control system designed to enhance trajectory tracking performance, robustness and adaptiveness against the uncertain parameters and the external wind disturbance. By combining a recursive control methodology with a robust control algorithm, a finite-time adaptive integral backstepping fast terminal sliding mode control is designed for major control loops related to position tracking and attitude stabilization. To estimate quadrotor mass and inertia moments, only four adaptation laws are developed. To compensate the unknown upper bound on the disturbances, a robust and adaptive switching gain is designed. The designed controller guarantees that all the closed signals are semi-global practical finite-time stability while the tracking error converges to a small neighborhood of the origin. The obtained numerical results and comparison studies show the effectiveness, robustness, adaptiveness and energy efficiency of the proposed flight control system.

Keywords Adaptive control, external disturbance, finite-time tracking, uncertain parameters, unmanned aerial vehicle.

Article

Regular Papers

International Journal of Control, Automation and Systems 2020; 18(2): 415-430

Published online February 1, 2020 https://doi.org/10.1007/s12555-019-0116-3

Copyright © The International Journal of Control, Automation, and Systems.

Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV

Karam Eliker and Weidong Zhang*

Shanghai Jiao Tong University

Abstract

This paper presents a reliable and novel quadrotor flight control system designed to enhance trajectory tracking performance, robustness and adaptiveness against the uncertain parameters and the external wind disturbance. By combining a recursive control methodology with a robust control algorithm, a finite-time adaptive integral backstepping fast terminal sliding mode control is designed for major control loops related to position tracking and attitude stabilization. To estimate quadrotor mass and inertia moments, only four adaptation laws are developed. To compensate the unknown upper bound on the disturbances, a robust and adaptive switching gain is designed. The designed controller guarantees that all the closed signals are semi-global practical finite-time stability while the tracking error converges to a small neighborhood of the origin. The obtained numerical results and comparison studies show the effectiveness, robustness, adaptiveness and energy efficiency of the proposed flight control system.

Keywords: Adaptive control, external disturbance, finite-time tracking, uncertain parameters, unmanned aerial vehicle.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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