Title: Design of set-point weighting-based dynamic integral sliding mode control with nonlinear full-order state observers for quadcopter UAVs

Authors: Ahmad Riyad Firdaus; M. Osman Tokhi

Addresses: Department of Electrical Engineering, Politeknik Negeri Batam, Batam, Indonesia ' School of Engineering, London South Bank University, London, UK

Abstract: This research is to develop set-point weighting-based dynamic integral sliding mode control with nonlinear full-order state observers to deal with nonlinear and underactuated coupled systems, and unforeseen circumstances of quadcopter UAVs systems. A comparative assessment through numerical simulations of sliding mode-based nonlinear observer approaches and Kalman filter is presented. These include quasi method, interval type-2 fuzzy logic system, super-twisting algorithm, higher order sliding mode observer, and extended Kalman filter. Chattering, noise rejection, estimation error and time required to track true states are evaluated to demonstrate the performance of each observer. In addition, to assess the proposed controller performance, maximum overshoot, rise time, chattering, and steady-state error are evaluated in relation to the use of each observer.

Keywords: nonlinear systems; underactuated and coupled systems; integral dynamic sliding mode control; set-point weighting function; nonlinear full-order state observers.

DOI: 10.1504/IJMIC.2019.102373

International Journal of Modelling, Identification and Control, 2019 Vol.32 No.2, pp.114 - 134

Received: 28 Feb 2019
Accepted: 28 Feb 2019

Published online: 17 Sep 2019 *

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