Title: Fixed-time sliding mode flight control with model-based switching functions of quadrotor unmanned aerial vehicles

Authors: Charles Fallaha; Yassine Kali; Maarouf Saad; Jawhar Ghommam

Addresses: Department of Electrical Engineering, École de Technologie Supérieure, Montreal, QC H3C 1K3, Canada ' Department of Electrical Engineering, École de Technologie Supérieure, Montreal, QC H3C 1K3, Canada ' Department of Electrical Engineering, École de Technologie Supérieure, Montreal, QC H3C 1K3, Canada ' Department of Electrical and Computer Engineering, Sultan Quaboos University, Muscat 123, Oman

Abstract: This paper proposes the design of a new sliding mode controller of the attitude fast inner-loop of a drone quadrotor type system. The controller uses the novel model-based switching functions approach, which leads to important simplifications of the pitch, roll and yaw torques control inputs fed to the quadrotor. The model-based switching functions approach forces as well a complete chattering decoupling of these three torque inputs and enhances the robustness of the closed-loop system. The proposed approach is combined with the fixed-time sliding mode approach, and is experimentally implemented and successfully validated on a quadrotor system.

Keywords: sliding mode control; SMC; model-based switching functions; fixed-time sliding mode; quadrotor; unmanned aerial vehicle; UAV.

DOI: 10.1504/IJAAC.2022.122608

International Journal of Automation and Control, 2022 Vol.16 No.3/4, pp.371 - 387

Received: 20 Sep 2020
Accepted: 09 Nov 2020

Published online: 04 May 2022 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article