Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties. (January 2018)

• Record Type: Journal Article
• Authors: Mofid, Omid; Mobayen, Saleh
• Is Part Of: ISA transactions. Volume 72(2018)
• Page Start: 1
• Page End: 14
• Publication Date: 2018-01
• Subjects: Unmanned aerial vehicle systems -- Finite-time convergence -- Sliding mode control -- Parametric uncertainties -- Adaptive tuning; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2017.11.010
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods. Highlights: Design of robust adaptive finite-time tracker with fast convergence for quad-rotor. Self-tuning finite time control combined with proportional-integral sliding surface. No requirement to the knowledge of upper bound of parametric uncertainties.