Hostname: page-component-74656f9884-8r8nv Total loading time: 0 Render date: 2026-11-07T15:13:41.298Z Has data issue: false hasContentIssue false
  • English
  • Français

A Single-Loop MIMO Trajectory Tracking Controller for Autonomous Quadrotors: The Control Point Concept

Published online by Cambridge University Press:  25 June 2020

Han Woong Bae Open the ORCID record for Han Woong Bae [Opens in a new window]  and
Farbod Fahimi
Han Woong Bae*
Affiliation:
University of Alabama in Huntsville, Huntsville, AL, USA E-mail: ff0002@uah.edu
Farbod Fahimi
Affiliation:
University of Alabama in Huntsville, Huntsville, AL, USA E-mail: ff0002@uah.edu
*
*Corresponding author. E-mail: hb0018@uah.edu
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

In this paper, a sliding mode control using a control point concept is proposed for an under-actuated quadrotor. The proposed controller controls the position of the control point, a displaced point from the quadrotor’s geometric center, and the yaw angle. This method solves singularity issues in control matrix inversion and enables the utilization of the multi-input multi-output equation to derive the control inputs. The sliding surface is designed to control four outputs while stabilizing roll and pitch angles. Simulation and experimental results show the effectiveness and robustness of the proposed controller in the tracking of a trajectory under parametric uncertainties.

Keywords

QuadrotorMIMOSliding surfaceSliding mode controlUnder-actuated systemZero dynamicControl pointGeometric center

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 3 , March 2021 , pp. 438 - 451
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

References

Michael, N., Mellinger, D., Lindsey, Q. and Kumar, V., “The GRASP multiple micro-UAV test bed,” IEEE Robot. Autom. Mag. 17(3), 56–65 (2010).CrossRefGoogle Scholar
Mellinger, D., Michael, N. and Kumar, V., “Trajectory generation and control for precise aggressive maneuvers with quadrotors,” Int. J. Rob. Res. 31(5), 664–674 (2012).CrossRefGoogle Scholar
Islam, S., Faraz, M., Ashour, R. K., Dias, J. and Seneviratne, L. D., “Robust Adaptive Control of Quadrotor Unmanned Aerial Vehicle with Uncertainty,” Proceedings of the 2015 IEEE International Conference on Robotics and Automation (2015) pp. 1704–1709.Google Scholar
Besnard, L., Shtessel, Y. and Landrum, B., “Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer,” J. Franklin. Inst. 349(2), 658–684 (2012).CrossRefGoogle Scholar
Hall, C. E. and Shtessel, Y., “Sliding mode disturbance observer-based control for a reusable launch vehicle,” J. Guid. Control. Dyn. 29(6), 1315–1328 (2006).CrossRefGoogle Scholar
Rios, H., Falcon, R.,Gonzalez, O. and Dzul, A., “Continuous sliding-mode control strategies for quadrotor robust tracking: Real-time application,” IEEE Trans. Ind. Electron. 66(2), 1264–1272 (2019).CrossRefGoogle Scholar
Doukhi, O., Fayjie, A. and Lee, D., “Global Fast Terminal Sliding Mode Control for Quadrotor UAV,” Proceedings of the 17th International Conference on Control, Automation and Systems (2017) pp. 1180–1182.Google Scholar
Nadda, S. and Swarup, A., “On adaptive sliding mode control for improved quadrotor tracking,” J. Vib. Control 24(14), 3219–3230 (2018).CrossRefGoogle Scholar
Jayakrishnan, H., “Position and Attitude Control of a Quadrotor UAV Using Super Twisting Sliding Mode,” Proceedings of the IFAC-PapersOnLine (2016) pp. 284–289.Google Scholar
Thanh, L. and Hong, S., “Quadcopter robust adaptive second order sliding mode control based on PID sliding surface,” IEEE Access 6, 66850–66860 (2018).CrossRefGoogle Scholar
Jianhua, Y., “Trajectory tracking control for a quadrotor helicopter based on sliding mode theory,” Rev. Tec. Fac. Ing. Univ. 39(10), 413–421 (2016).Google Scholar
Antonelli, G., Cataldi, E., Arrichiello, F., Giordano, P. R., Chiaverini, S. and Franchi, A., “Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances,” IEEE Trans. Syst, Control. Technol. 26(1), 248–254 (2018).CrossRefGoogle Scholar
Shi, X., Zhang, Y. and Zhou, D., “A geometric approach for quadrotor trajectory tracking control,” Int. J. Control 88(11), 2217–2227 (2015).CrossRefGoogle Scholar
Moreno-Valenzuela, J., Perez-Alcocer, R., Guerrero-Medina, M. and Dzul, A., “Nonlinear PID-type controller for quadrotor trajectory tracking,” IEEE/ASME Trans. Mechatron. 23(5), 2436–2447 (2018).CrossRefGoogle Scholar
Zhao, B., Xian, B., Zhang, Y. and Zhang, X., “Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology,” IEEE Trans. Ind. Electron. 62(5), 2891–2902 (2015).CrossRefGoogle Scholar
Liu, H., Li, D., Zuo, Z. and Zhong, Y., “Robust three-loop trajectory tracking control for quadrotors with multiple uncertainties,” IEEE Trans. Ind. Electron. 63(4), 2263–2274 (2016).Google Scholar
Kösal, N., An, H. and Fidan, B., “Two-level nonlinear tracking control of a quadrotor unmanned aerial vehicle,” IFAC PapersOnLine 49(17), 254–259 (2016).CrossRefGoogle Scholar
Jia, Z., Yu, J., Mei, Y., Chen, Y., Shen, Y. and Ai, X., “Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances,” Aerosp. Sci. Technol. 68, 299–307 (2017).CrossRefGoogle Scholar
Zhang, Y., Fang, Z. and Li, H., “Extreme learning machine assisted adaptive control of a quadrotor helicopter” Math. Probl. Eng. 2015, 1–12 (2015).Google Scholar
Nadda, S. and Swarup, A., “Tracking control design for quadrotor unmanned aerial vehicle,” Def. Sci. J. 67(3), 245–253 (2017).CrossRefGoogle Scholar
Tan, W., Marquez, H. and Chen, T., “Robust analysis and PID tuning of cascade control systems,” Chem. Eng. Commun. 192(9), 1202–1220 (2005).CrossRefGoogle Scholar
Xia, D., Cheng, L. and Yao, Y., “A robust inner and outer loop control method for trajectory tracking of a quadrotor,” Sensors (Basel) 17(9), 2147 (2017).CrossRefGoogle Scholar
Choi, Y.-C. and Ahn, H.-S., “Nonlinear control of quadrotor for point tracking: Actual implementation and experimental tests,” IEEE/ASME Trans. Mechatron. 20(3), 1179–1192 (2015).CrossRefGoogle Scholar
Koo, T. J. and Sastry, S., “Output tracking control design of a helicopter model based on approximate linearization,” IEEE/ASME Trans. Mechatron. 20(3), 1179–1192 (2015).Google Scholar
Cabecinhas, D., Cunha, R. and Silvestre, C., “A Nonlinear Quadrotor Trajectory Tracking Controller with Disturbance Rejection,” Proceedings of the 2014 American Control Conference (2014) pp. 560–565.Google Scholar
Das, A., Subbarao, K. and Lewis, F., “Dynamic inversion with zero-dynamics stabilisation for quadrotor control,” IET Control Theory A 3(3), 303–314 (2009).CrossRefGoogle Scholar
Lee, D., Kim, H. J. and Sastry, S., “Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter,” Int. J. Control Autom. 7(3), 419–428 (2009).CrossRefGoogle Scholar
Benallegue, A., Mokhtari, A. and Fridman, L., “Feedback Linearization and High Order Sliding Mode Observer for a Quadrotor UAV,” Proceedings of the 2006 International Workshop on Variable Structure Systems (2006) pp. 365–372.Google Scholar
S. Al-Hiddabi “Quadrotor Control Using Feedback Linearization with Dynamic Extension,” Proceeding of the 6th International Symposium on Mechatronics and Its Applications (2009) pp. 1–3.Google Scholar
Li, L., Sun, L. and Jin, J., “Survey of Advances in Control Algorithms of Quadrotor Unmanned Aerial Vehicle,” Proceedings of the 2015 IEEE 16th International Conference (2015) pp. 107–111.Google Scholar
Liu, Z. and Hedrick, K., “Dynamic Surface Control Techniques Applied to Horizontal Position Control of a Quadrotor,” Proceedings of the 20th International Conference on System Theory, Control and Computing (2016) pp. 138–144.Google Scholar
Xu, R. and Özgüner, Ü., “Sliding Mode Control of a Quadrotor Helicopter,” Proceedings of the IEEE 45th Conference on Decision and Control (2006) pp. 4957–4962.Google Scholar
Xu, R. and Özgüner, Ü., “Sliding mode control of a class of underactuated systems,” Automatica 44(1), 233–241 (2008).CrossRefGoogle Scholar
Poultney, A., Kennedy, C., Clayton, G. and Ashrafiuon, H., “Robust tracking control of quadrotors based on differential flatness: Simulations and experiments,” IEEE/ASME Trans. Mechatron. 23(3), 1126–1137 (2018).CrossRefGoogle Scholar
Xiong, J. and Zhang, G., “Discrete-time sliding mode control for a quadrotor UAV,” Optik 127(8), 3718–3722 (2016).CrossRefGoogle Scholar
Xiong, J. and Zhang, G., “Sliding Mode Control for a Quadrotor UAV with Parameter Uncertainties,” Proceedings of the 2nd International Conference on Control, Automation and Robotics (2016) pp. 207–212.Google Scholar
Xiong, J. and Zhang, G., “Position and attitude tracking control for a quadrotor UAV,” ISA Trans. 53(3), 725–731 (2014).CrossRefGoogle Scholar
Sydney, N., Smyth, B. and Paley, D. A., “Dynamic Control of Autonomous Quadrotor Flight in an Estimated Wind Field,” Proceedings of the 52nd IEEE Conference on Decision and Control (2013) pp. 3609–3616.Google Scholar
Fahimi, F. and Saffarian, M., “The control point concept for nonlinear trajectory-tracking control of autonomous helicopters with fly-bar,” Int. J. Control 84(2), 242–252 (2010).CrossRefGoogle Scholar
MATLAB and Aerospace Toolbox Release 2018a (The MathWorks, Inc., Natick, MA, USA).Google Scholar