Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding Mode

Labbadi, Moussa; Iqbal, Jamshed; Djemai, Mohamed; Boukal, Yassine; Bouteraa, Yassine

Abstract

This paper presents a finite-time approach for tracking control of a quadrotor system subjected to external disturbances and model uncertainties. The proposed approach offers a preassigned performance guarantee. Firstly, integral terminal sliding manifolds and nonsingular terminal sliding manifolds are considered to produce the new hyperplane sliding variables for both position and attitude of a quadrotor. The designed hyperplane sliding variables guaranteed a finite-time convergence. The objective is to develop a finite-time control scheme for a disturbed quadrotor to follow a predefined trajectory based on a nonlinear sliding mode controller. The main contribution of this paper is to design a hyperplane-based nonlinear sliding mode control strategy for a quadrotor subjected to disturbances. A concept of robust controllers for a quadrotor is presented based on Lyapunov theory, which proves finite-time stability of the proposed control technique. Numerical simulations with two different scenarios verify the accuracy of the proposed hyperplane-based sliding mode control approach. The simulations study also included a comparison with another nonlinear controller. Results demonstrated overperformance of the proposed control strategy.

Citation

Labbadi, M., Iqbal, J., Djemai, M., Boukal, Y., & Bouteraa, Y. (2023). Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding Mode. PLoS ONE, 18(4), Article e0283195. https://doi.org/10.1371/journal.pone.0283195

• Journal Article Type: Article
• Acceptance Date: Mar 4, 2023
• Online Publication Date: Apr 24, 2023
• Publication Date: Apr 1, 2023
• Deposit Date: May 5, 2023
• Publicly Available Date: May 10, 2023
• Journal: PloS one
• Print ISSN: 1932-6203
• Electronic ISSN: 1932-6203
• Publisher: Public Library of Science
• Peer Reviewed: Peer Reviewed
• Volume: 18
• Issue: 4
• Article Number: e0283195
• DOI: https://doi.org/10.1371/journal.pone.0283195
• Public URL: https://hull-repository.worktribe.com/output/4277646