Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV

• Published in: International journal of control, automation, and systems Vol. 18; no. 2; pp. 415 - 430
• Main Authors: Eliker, Karam, Zhang, Weidong
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.02.2020; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Adaptive algorithms; Adaptive control; Attitude stability; Control; Control algorithms; Control systems design; Control theory; Energy conversion efficiency; Engineering; Flight control systems; Integrals; Mechatronics; Moments of inertia; Parameter uncertainty; Recursive methods; Regular Papers; Robotics; Robust control; Robustness (mathematics); Sliding mode control; Tracking errors; Unmanned aerial vehicles; Upper bounds; 제어계측공학; finite-time tracking; unmanned aerial vehicle; Adaptive control; uncertain parameters; external disturbance
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0116-3

This paper presents a reliable and novel quadrotor flight control system designed to enhance trajectory tracking performance, robustness and adaptiveness against the uncertain parameters and the external wind disturbance. By combining a recursive control methodology with a robust control algorithm, a finite-time adaptive integral backstepping fast terminal sliding mode control is designed for major control loops related to position tracking and attitude stabilization. To estimate quadrotor mass and inertia moments, only four adaptation laws are developed. To compensate the unknown upper bound on the disturbances, a robust and adaptive switching gain is designed. The designed controller guarantees that all the closed signals are semi-global practical finite-time stability while the tracking error converges to a small neighborhood of the origin. The obtained numerical results and comparison studies show the effectiveness, robustness, adaptiveness and energy efficiency of the proposed flight control system.