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Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot

Published online by Cambridge University Press:  03 August 2018

Mohd Ariffanan Mohd Basri
Mohd Ariffanan Mohd Basri*
Affiliation:
Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai 81310, Johor, Malaysia
*
*Corresponding author. E-mail: ariffanan@fke.utm.my
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Summary

The quadrotor aerial robot is a complex system and its dynamics involve nonlinearity, uncertainty, and coupling. In this paper, an adaptive backstepping sliding mode control (ABSMC) is presented for stabilizing, tracking, and position control of a quadrotor aerial robot subjected to external disturbances. The developed control structure integrates a backstepping and a sliding mode control approach. A sliding surface is introduced in a Lyapunov function of backstepping design in order to further improve robustness of the system. To attenuate a chattering problem, a saturation function is used to replace a discontinuous sign function. Moreover, to avoid a necessity for knowledge of a bound of external disturbance, an online adaptation law is derived. Particle swarm optimization (PSO) algorithm has been adopted to find parameters of the controller. Simulations using a dynamic model of a six degrees of freedom (DOF) quadrotor aerial robot show the effectiveness of the approach in performing stabilization and position control even in the presence of external disturbances.

Keywords

Quadrotor aerial robotBackstepping controlAdaptive controlSliding mode controlParticle swarm optimization
Type
Articles
Information
Robotica , Volume 36 , Issue 11 , November 2018 , pp. 1701 - 1727
Copyright
Copyright © Cambridge University Press 2018 

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