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29-11-2023 | Research Article-Electrical Engineering

Robust Trajectory Tracking Control of an Uncertain Quadrotor via a Novel Adaptive Nonsingular Sliding Mode Control

Authors: Hamid Hassani, Anass Mansouri, Ali Ahaitouf

Published in: Arabian Journal for Science and Engineering

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Abstract

This paper proposes a novel, robust flight control system using adaptive nonlinear sliding mode control for a quadrotor UAV in the presence of parametric uncertainties and aerodynamical disturbances. The proposed control system is based on a proportional derivative sliding surface combined with a non-singular fast terminal sliding mode control to enhance the tracking accuracy and reduce the chattering influence. Moreover, an adaptive mechanism is proposed to approximate the unknown upper limit of external disturbances/uncertainties. The Lyapunov criteria is used to prove the closed-loop stability and calculate the adaptive mechanism. The proposed adaptive PD-NFTSMC (APD-NFTSMC) can cope with the negative influence of modeling uncertainties, external disturbances, and measurement noise, allows null error in the steady state, and solves the chattering problem. Moreover, intensive simulation experiments under various external conditions are carried out to highlight the sovereignty of the developed control approach. Finally, comparisons with some well-known control techniques are performed to show the usefulness, smoothness, and robustness of the proposed APD-NFTSMC strategy.

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Appendix
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Metadata
Title
Robust Trajectory Tracking Control of an Uncertain Quadrotor via a Novel Adaptive Nonsingular Sliding Mode Control
Authors
Hamid Hassani
Anass Mansouri
Ali Ahaitouf
Publication date
29-11-2023
Publisher
Springer Berlin Heidelberg
Published in
Arabian Journal for Science and Engineering
Print ISSN: 2193-567X
Electronic ISSN: 2191-4281
DOI
https://doi.org/10.1007/s13369-023-08455-8

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