Attitude Control of Unmanned Aerial Vehicle Based on Sliding Mode Technique with Parameter Estimation

Subject Areas : Mechanical Engineering

A. A.  Akbari* ¹ (Department of Mechanical Engineering, University of Ferdowsi University of Mashhad, Iran)
S.  Amini ² (Department of Mechanical Engineering, University of Ferdowsi University of Mashhad, Iran)

Received: 2016-12-09 Accepted : 2017-02-14 Published : 2017-08-24

Keywords: sliding mode control, Adaptation laws, Aerial vehicle, Nonlinear dynamic,

Abstract :

An adaptive robust controller for nonlinear and coupling dynamic of aerial vehicle has been presented. In this paper an adaptive sliding mode controller (ASMC) is integrated to design the attitude control for the inner loops of nonlinear coupling dynamic of Unmanned Aerial Vehicle (UAV) in the presence of parametric uncertainties and disturbances. In the proposed scheme, the adaptation laws can estimate the unknown uncertain parameters and external disturbances, while the sliding mode control is used to ensure the fast response and robustify the control design against unmodeled dynamics with a small control effort.The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. In comparison with other sliding mode approaches, the approach does not need the upper bound of parametric uncertainty and disturbances. The navigation outer loops of small UAV instead is based on PIDs to control altitude and heading. Simulation results demonstrate that the proposed controller can stabilize the nonlinear system and also it has stronger robustness with respect to the model uncertainties and gust disturbance.

References:

[1]       Clough, B. T., “Unmanned Aerial Vehicles:  Autonomous Control Challenges, a Researcher's Perspective”, Journal of Aerospace Computing, Information, and Communication 2, Vol. 8, 2005, pp. 327-347.

[2]       Giulietti, F., Pollini, L., and Innocenti, M., “Autonomous Formation Flight”, IEEE Control Systems Magazine, Vol. 20, 2000, pp. 34-44.

[3]       Ryan, A., Zennaro, M., Howell, A., Sengupta, R., and Hedrick, J. K., “An Overview of Emerging Results in Cooperative Uav Control”, In: Proceeding of IEEE Conference Decision and Control, 2004, pp. 602-607.

[4]       Tadeo, E., Dzul, A., and Llama, M., “Linear And Nonlinear Controllers Applied To Fixed-Wing Uav”, International Journal of Advanced Robotic Systems, Vol. 10, No. 33, 2013.

[5]       Capello E., Guglieri G., Quagliotti F., and Sartori D., “Design and Validation of an L1 Adaptive Controller for Mini- UAVautopilot”, Journal of Intelligent and Robotic Systems, Vol. 69, 2013, pp. 109-118.

[6]       Wang E., Jianying, K., and Zhaowei Sun, T., “6-DOF Robust Adaptive Terminal Sliding Mode Control for Spacecraft Formation Flying”, Acta Astronautica, Vol. 7, No. 3, 2012, pp. 76-87.

[7]       Bin, X., Guo, J., and Zhang, Y., “Adaptive Backstepping Tracking Control of a 6-DOF Unmanned Helicopter”, Automatica Sinica, IEEE/CAA Journal of , Vol 2, No. 1, 2015, pp. 19-24.

[8]       Babaei A. R., Mortazavi M., and Moradi M. H., “Classical and Fuzzy-Genetic Autopilot Design for Unmanned Aerial Vehicles”, Applied Soft Computing Journal, Vol. 11, No. 1, 2011, pp. 365-372.

[9]       Shin, D. H., Kim, Y., “Reconfigurable Flight Control System Design Using Adaptive Neural Networks”, IEEE Trans. Control System Technol, Vol. 12, No. 1, 2004, pp. 87-100.

[10]    Yang, Y. N., Wu J., and Zheng, W., “Attitude Control for a Station Keeping Airship Using Feedback Linearization and Fuzzy Sliding Mode Control”, International Journal of Innovative Computing, Information and Control, Vol. 8, No .12, 2012, pp. 8299-8310.

[11]    Alessandro, P., Elio, U., “Sliding Mode Control: A Survey With Applications In Math”, Journal of Mathematics and Computers in Simulation, No. 81, 2011, pp. 954-979.

[12]    Hong, T. K., Youkyung, H. L, and Youdan, K., “Integrated Design of Rotary UAV Guidance and Control Systems Utilizing Sliding Mode Control Technique”, International Journal of Aeronautical and Space Sciences, Vol. 13, No. 1, 2012, pp. 90-98.

[13]    Modirrousta A., Sohrab M. and Seyed Dehghan M., “Free Chattering Sliding Mode Control With Adaptive Algorithm for Ground Moving Target Tracking”, Robotics and Mechatronics (ICRoM), Second RSI/ISM International Conference on. IEEE, 2014.

[14]    Bouadi, Hakim, et al, “Adaptive Sliding Mode Control for Quadrotor Attitude Stabilization and Altitude Tracking”, Computational Intelligence and Informatics (CINTI), IEEE 12th International Symposium on. IEEE, 2011.

[15]    Bouadi, Hakim, et al, “Flight Path Tracking Based-on Direct Adaptive Sliding Mode Control”, Intelligent Vehicles Symposium (IV), IEEE, 2011.

[16]    Modirrousta, A. Khodabandeh, M., “A Novel Nonlinear Hybrid Controller Design for an Uncertain Quadrotor with Disturbances”, Aerospace Science and Technology, Vol.  45, 2015, pp. 294-308.

[17]    Daewon, L., Jin Kim, H. and Sastry, Sh., “Feedback Linearization Vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter”, International Journal of Control, Automation and Systems, Vol.7, No.3, 2009, pp. 419-428.

[18]    Rajagopal, K., Bin S. N., “Robust Adaptive Control of a General Aviation Aircraft”, AIAA Guidance, Navigation, and Control Conference, Toronto, Ontario Canada, 2-5 August 2010.

[19]    Moosavian, A., Papadopoulos, E., “Free-Flying Robots In Space: an Overview of Dynamics Modeling, Planning And Control”, Robotica, Vol. 25, No. 5, 2007, pp. 537–547.

[20]    Karakas. D., “Nonlinear Modeling and Flight Control System Design of an Unmanned Aerial Vehicle”, Thesis, Middle Esat Technical University, 2007.

[21]    Beard. W. R., McLain. T, “Small Unmanned Aircraft: Theory and Practice”, Princeton University Press, 2012.

[22]    Roskam, J., “Airplane Flight Dynamics and Automatic  Flights, Pt. 1”, DARcorporation, 1995.

[23]    Paw, Y. C., Gary, J. B., “Development And Application of an Integrated Framework for Small UAV Flight Control Development”, Journal of Mechatronics, Vol. 21, No. 5, 2011, pp. 789-802.

[24]    Paw Y. C., “Synthesis and Validation of Flight Control for UAV”, Dissertation submitted to the Faculty of the Graduate School of the University of Minnesota, December 2009.

[25]    Kim, Jin H., David H. S., “A Flight Control System for Aerial Robots: Algorithms And Experiments”, Control Engineering Practice, Vol. 11, No. 12, 2003, pp. 1389-1400.

[26]    Utkin, K., Vadim, I., “Sliding Mode Control”, Variable Structure Systems, from Principles To Implementation 66, 2004.

[27]    Bartolini, Giorgio, et al, “A Survey of Applications of Second-Order Sliding Mode Control to Mechanical Systems”, International Journal of control, Vol. 76, No. 9-10, 2003, pp. 875-892.