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Published in: Arabian Journal for Science and Engineering 8/2020

19-05-2020 | Research Article-Systems Engineering

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

Authors: Ahmed Eltayeb, Mohd Fuaad Rahmat, Mohd Ariffanan Mohd Basri, Magdi S. Mahmoud

Published in: Arabian Journal for Science and Engineering | Issue 8/2020

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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.

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Metadata
Title
An Improved Design of Integral Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadrotor UAV
Authors
Ahmed Eltayeb
Mohd Fuaad Rahmat
Mohd Ariffanan Mohd Basri
Magdi S. Mahmoud
Publication date
19-05-2020
Publisher
Springer Berlin Heidelberg
Published in
Arabian Journal for Science and Engineering / Issue 8/2020
Print ISSN: 2193-567X
Electronic ISSN: 2191-4281
DOI
https://doi.org/10.1007/s13369-020-04569-5

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