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Trajectory tracking control of quadrotor under variable payloads with model-free controller and sliding mode control technology

Trajectory tracking control of quadrotor under variable payloads with model-free controller and... This study aims to deal with the problem of trajectory tracking control for the quadrotor under external environmental disturbance and variable payloads.Design/methodology/approachIn the field of unmanned aerial vehicle (UAV) control, external environmental disturbance and internal variable payloads as two major interference factors lead to control performance degradation or even instability, thus a trajectory tracking controller which innovatively combines sliding mode control technology and model-free control technique is proposed. The proposed controller is constructed with a learning rate-based sliding mode controller and an ultra-local model. Based on the proposed controller, the nonlinear system model of variable load quadrotor is locally estimated and the system’s uncertainties and disturbances can be compensated.FindingsThe simulation and actual test results demonstrate the satisfactory control performance and the robustness of the proposed controller compared with the PID and Backstepping controller under external environmental disturbance and variable payloads. Moreover, the proposed controller solves the trajectory tracking control problem not only when payloads change at the center of gravity but also when the position of load variation deviates from the center of gravity.Practical implicationsIn both military and civilian domains, the quadrotor may encounter such situations that the payloads change, such as transporting goods, aerial refueling and so on. As a large internal interference factor, variable load tends to lead to unstable control. The research results provide theoretical guidance and technical support for trajectory tracking control of quadrotor under variable payloads.Originality/valueThe proposed controller combines learning rate-based sliding mode controller and model-free control technique to achieve a more efficient and accurate trajectory control of the quadrotor when considering system uncertainties and the load variation that happens in the unknown location. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Aircraft Engineering and Aerospace Technology: An International Journal Emerald Publishing

Trajectory tracking control of quadrotor under variable payloads with model-free controller and sliding mode control technology

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References (28)

Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
1748-8842
DOI
10.1108/aeat-12-2020-0312
Publisher site
See Article on Publisher Site

Abstract

This study aims to deal with the problem of trajectory tracking control for the quadrotor under external environmental disturbance and variable payloads.Design/methodology/approachIn the field of unmanned aerial vehicle (UAV) control, external environmental disturbance and internal variable payloads as two major interference factors lead to control performance degradation or even instability, thus a trajectory tracking controller which innovatively combines sliding mode control technology and model-free control technique is proposed. The proposed controller is constructed with a learning rate-based sliding mode controller and an ultra-local model. Based on the proposed controller, the nonlinear system model of variable load quadrotor is locally estimated and the system’s uncertainties and disturbances can be compensated.FindingsThe simulation and actual test results demonstrate the satisfactory control performance and the robustness of the proposed controller compared with the PID and Backstepping controller under external environmental disturbance and variable payloads. Moreover, the proposed controller solves the trajectory tracking control problem not only when payloads change at the center of gravity but also when the position of load variation deviates from the center of gravity.Practical implicationsIn both military and civilian domains, the quadrotor may encounter such situations that the payloads change, such as transporting goods, aerial refueling and so on. As a large internal interference factor, variable load tends to lead to unstable control. The research results provide theoretical guidance and technical support for trajectory tracking control of quadrotor under variable payloads.Originality/valueThe proposed controller combines learning rate-based sliding mode controller and model-free control technique to achieve a more efficient and accurate trajectory control of the quadrotor when considering system uncertainties and the load variation that happens in the unknown location.

Journal

Aircraft Engineering and Aerospace Technology: An International Journal – Emerald Publishing

Published: Nov 30, 2021

Keywords: Sliding mode control; Quadrotor UAV; Model-free control; Trajectory tracking control; Variable load

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