Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances. (19th August 2019)

• Record Type: Journal Article
• Authors: Labbadi, Moussa; Cherkaoui, Mohamed
• Other Names: Concilio Antonio Academic Editor.
• Is Part Of: International journal of aerospace engineering. Volume 2019(2019)
• Publication Date: 2019-08-19
• Subjects: Aerospace engineering -- Periodicals; 629.105
• DOI: 10.1155/2019/2016416
• Languages: English
• ISSNs: 1687-5966

Abstract

Abstract : The purpose of this paper is to solve the problem of controlling of the quadrotor exposed to external constant disturbances. The quadrotor system is partitioned into two parts: the attitude subsystem and the position subsystem. A new robust integral terminal sliding mode control law (RITSMC) is designed for stabilizing the inner loop and the quick tracking of the right desired values of the Euler angles. To estimate the disturbance displayed on thez -axis and to control the altitude position subsystem, an adaptive backstepping technique is proposed, while the horizontal position subsystem is controlled using the backstepping approach. The stability of the quadrotor subsystems is guaranteed by the Lyapunov theory. The effectiveness of the proposed methods is clearly comprehended through the obtained results of the various simulations effectuated on MATLAB/Simulink, and a comparison with another technique is presented.