Authors: Sudhir Nadda; Akhilesh Swarup
Addresses: Amity Institute of Space Science and Technology, Amity University, Noida, UP, 201303, India ' National Institute of Technology Kurukshetra, Haryana, 136119, India
Abstract: The dynamical model of a quadrotor unmanned aerial vehicle (UAV) is nonlinear, multivariable as well as unstable. Many control methods are available, but the existing controls are not sufficient to achieve stability and accuracy in a short time. This study presents a composite control approach to perform the attitude and position tracking of a UAV. The proposed control scheme has two steps. In the first step, the dynamical model is decomposed into two parts, i.e., fully actuated subsystem and underactuated subsystem. In the second step, the sliding mode control has been used to control the underactuated subsystem and terminal sliding mode control has been exploited to control the fully actuated subsystem. The application of terminal sliding mode guarantees the finite time convergence. The stability of the system has been ensured by obtaining the condition on control parameter using Lyapunov criterion. The performance of proposed control was evaluated and it has been found that there is substantive improvement over the performance of conventional methods.
Keywords: quadrotor; terminal sliding mode control; sliding mode control; composite control; UAV; unmanned aerial vehicle.
International Journal of Modelling, Identification and Control, 2020 Vol.34 No.1, pp.26 - 32
Received: 25 Nov 2019
Accepted: 15 Jan 2020
Published online: 04 Aug 2020 *