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Robust Adaptive Backstepping Global Fast Dynamic Terminal Sliding Mode Controller Design for Quadrotors

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Abstract

Nowadays, small structured unmanned aerial vehicles (UAVs) with four-rotor (Quadrotor) appear in every part of human life works. As the usage areas of the air vehicles become widespread, the development of controller structures which allows the quadrotor to track a specified trajectory precisely is a new research area of interest for researchers. In this work, the nonlinear mathematical model of a four-rotor UAV is obtained by using Newton-Euler method. In the trajectory tracking system of this quadrotor, a new controller structure which is called Robust Adaptive Backstepping Global Fast Dynamic Terminal Sliding Mode Controller (RABGFDTSMC) is designed. In this controller structure, the control process is divided into two subsystems in order to provide position and attitude control. RABGFDTSMC is applied to the fully actuated and underactuated subsystems individually. Coefficients of the controller is obtained by using pre-defined characteristic equation. Besides, overall system stability is proved with the Lyapunov function. To demonstrate the effectiveness of the proposed controller, simulation experiments are conducted in MATLAB/ Simulink environment. The simulation results of the proposed controller are compared with the global fast dynamic terminal sliding mode controller by means of trajectory tracking performance in steady-state and transient phases. As a result, the proposed controller RABGFDTSMC method proved its robustness according to the smaller steady state error with less oscillations and more precise flight performance in trajectory tracking.

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Funding

The presented work is not supported by a funding agencies in the public, commercial, or not-for-profit sectors.

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Authors and Affiliations

  1. Süleyman Demirel University, Faculty of Engineering, Electrical and Electronics Engineering Department, Isparta, Turkey

    Umut Tilki

  2. Muğla Sıtkı Koçman University, Faculty of Engineering, Electrical and Electronics Engineering Department, Muğla, Turkey

    Ali Can Erüst

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  1. Umut Tilki
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Contributions

Ali Can Erüst: This work is part of his M.Sc. thesis. Literature survey, simulation, analyzing the results are conducted by this author. The author has also prepared the original draft. Umut Tilki: Conceptualization and supervision of the study is done by this author. Methodology of the controller, validation, analyzing the results, writing the original draft, editing and reviewing are conducted by him.

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Correspondence to Umut Tilki.

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Tilki, U., Erüst, A.C. Robust Adaptive Backstepping Global Fast Dynamic Terminal Sliding Mode Controller Design for Quadrotors. J Intell Robot Syst 103, 21 (2021). https://doi.org/10.1007/s10846-021-01475-2

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