Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances

Jia, Z; Yu, J; Mei, Y; Chen, Y; Shen, Y; Ai, X

Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances

Jia, Z Yu, J Mei, Y Chen, Y

Shen, Y Ai, X

Permalink

Publisher:: ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
Publication Type:: Journal Article
Citation:: Aerospace Science and Technology, 2017, 68, pp. 299-307
Issue Date:: 2017-09-01

Closed Access

	Filename	Description	Size
	main.pdf	Published version	2.79 MB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Jia, Z
dc.contributor.author	Yu, J
dc.contributor.author	Mei, Y
dc.contributor.author	Chen, Y https://orcid.org/0000-0003-2756-7050
dc.contributor.author	Shen, Y
dc.contributor.author	Ai, X
dc.date.accessioned	2022-10-25T00:27:25Z
dc.date.available	2022-10-25T00:27:25Z
dc.date.issued	2017-09-01
dc.identifier.citation	Aerospace Science and Technology, 2017, 68, pp. 299-307
dc.identifier.issn	1270-9638
dc.identifier.issn	1626-3219
dc.identifier.uri	http://hdl.handle.net/10453/162652
dc.description.abstract	In this paper, a novel nonlinear control strategy along with its simulation for a quadrotor helicopter is proposed. The normal 6-DOF dynamic model of the quadrotor based on the Newton–Euler formula as well as the model with external uncertain disturbances are established. Considering the underactuated and strongly coupled characteristics of quadrotor helicopter, we design a nonlinear control method by using integral backstepping combined with the sliding mode control (integral BS-SMC) to stabilize the quadrotor attitude and to accomplish the task of trajectory tracking. The designed controllers based on the hierarchical control scheme can be divided into rotational controller and translational controller and their stability are validated by the Lyapunov stability theorem. By means of the proposed controllers, the chattering phenomenon and discontinuousness of control inputs faced by traditional sliding mode control (SMC) can be avoided. The feasibility of the control approach presented in this paper is verified by the simulations under different scenarios. The results show that the nonlinear control method not only has a better tracking performance than others but also has a higher robustness when unknown disturbances occur.
dc.language	English
dc.publisher	ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
dc.relation.ispartof	Aerospace Science and Technology
dc.relation.isbasedon	10.1016/j.ast.2017.05.022
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0901 Aerospace Engineering, 0913 Mechanical Engineering
dc.subject.classification	Aerospace & Aeronautics
dc.title	Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances
dc.type	Journal Article
utslib.citation.volume	68
utslib.for	0901 Aerospace Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access	*
dc.date.updated	2022-10-25T00:27:23Z
pubs.publication-status	Published
pubs.volume	68

Abstract:

In this paper, a novel nonlinear control strategy along with its simulation for a quadrotor helicopter is proposed. The normal 6-DOF dynamic model of the quadrotor based on the Newton–Euler formula as well as the model with external uncertain disturbances are established. Considering the underactuated and strongly coupled characteristics of quadrotor helicopter, we design a nonlinear control method by using integral backstepping combined with the sliding mode control (integral BS-SMC) to stabilize the quadrotor attitude and to accomplish the task of trajectory tracking. The designed controllers based on the hierarchical control scheme can be divided into rotational controller and translational controller and their stability are validated by the Lyapunov stability theorem. By means of the proposed controllers, the chattering phenomenon and discontinuousness of control inputs faced by traditional sliding mode control (SMC) can be avoided. The feasibility of the control approach presented in this paper is verified by the simulations under different scenarios. The results show that the nonlinear control method not only has a better tracking performance than others but also has a higher robustness when unknown disturbances occur.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/162652