Skip to main content
main-content
Top

Hint

Swipe to navigate through the articles of this issue

19-05-2020 | Research Article-Systems Engineering | Issue 8/2020

Arabian Journal for Science and Engineering 8/2020

An Improved Design of Integral Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadrotor UAV

Journal:
Arabian Journal for Science and Engineering > Issue 8/2020
Authors:
Ahmed Eltayeb, Mohd Fuaad Rahmat, Mohd Ariffanan Mohd Basri, Magdi S. Mahmoud

Abstract

The quadrotor unmanned aerial vehicles (UAV) are rich system with attractive and challenging properties such as nonlinearities and underactuated dynamics, which motivates researchers to design advanced and robust control algorithms. In this paper, we contribute to a further improved design of quadrotor UAV. The quadrotor dynamics and kinematics equations are briefly presented. Then, an improved integral sliding mode controller (ISMC) has been proposed and applied within an inner loop to stabilize and track the quadrotor attitude at the desired values. The aim is to enhance the performance of the ISMC controller by eliminating the chattering problem, meanwhile maintaining the trajectory tracking in a robust fashion. In our design, the switching function (sign(s)), causing the chattering, is replaced by the approximated functions (tan h, error, saturation, quasi-sliding mode method) in the ISMC control law. PD controller is applied as an outer loop controller to enable the quadrotor to track the desired position. The performance of the proposed ISMC controller is studied with regard to the chattering attenuation and trajectory tracking robustness and tested by simulation MATLAB/SIMULINK. Finally, a comparison with the switching function (sign(s)) is performed to alleviate the superior performance of the proposed design.

Please log in to get access to this content

To get access to this content you need the following product:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 69.000 Bücher
  • über 500 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Umwelt
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Testen Sie jetzt 30 Tage kostenlos.

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 50.000 Bücher
  • über 380 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Umwelt
  • Maschinenbau + Werkstoffe




Testen Sie jetzt 30 Tage kostenlos.

Literature
About this article

Other articles of this Issue 8/2020

Arabian Journal for Science and Engineering 8/2020 Go to the issue

Research Article-Computer Engineering and Computer Science

Logically Optimal Novel 4:2 Compressor Architectures for High-Performance Applications

Premium Partners

    Image Credits