Yogi, Subhash Chand (Indian Institute of Technology - Kanpur), Kamath, Archit Krishna (Indian Institute of Technology Kanpur), singh, padmini (iit kanpur), Behera, Laxmidhar (Indian Institute of Technology Kanpur)

Trajectory Tracking Control of a Quadrotor UAV Using an Auto-Tuning Robust Sliding Mode Controller

Scheduled for presentation during the Regular Session "Multirotor Design and Control I" (WeB3), Wednesday, June 22, 2022, 15:50−16:10, Divona-1

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This work presents the development of an intelligent nonlinear sliding mode control strategy to control the motion of a quadrotor, subjected to bounded external disturbances and parametric uncertainties. As opposed to the conventional sliding manifolds, the proposed algorithm utilises a terminal sliding manifold for ensuring that the tracking error converges to its steady state value in finite time. In addition, alongside the nonlinear sliding manifold, a power rate reaching law is used to attenuate chattering. The controller gains are tuned using the principle of gradient-descent so as to mitigate the effect of external disturbances as well as parametric uncertainties in the system such that the overall control effort is minimized. The overall stability of the system as well as the expression for convergence time are analysed and obtained using the Lyapunov's stability theory. Numerical simulations are used to demonstrate the efficacy of the proposed controller as opposed to the neural network based classical sliding mode controller. In addition, simulations are presented to establish the significance of the gain tuning approach. The presented approach is also validated in in Real-time using the DJI Matrice 100 in outdoor environment.