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Robust Adaptive Global Time-varying Sliding-mode Control for Finite-time Tracker Design of Quadrotor Drone Subjected to Gaussian Random Parametric Uncertainties and Disturbances

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  • Robot and Applications
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Abstract

The quadrotor has many potential applications such as infrastructure predictive maintenance in mining tunnels of the railway. In order to navigate through those environments by using the quadrotor drone, there are many challenges such as aerodynamics disturbances, parametric uncertainties, and noise measurements. A robust adaptive global time-varying sliding-mode controller (RAGTVSMC) is proposed to address the quadrotor path in the presence of the random disturbances and uncertainties. In order to eliminate the reaching phase and reduce the initial control effort, a novel time-varying sliding mode (TVSM) surface is presented for the quadrotor system. Moreover, the TVSM surface is designed to meet the impact time requirement with a global sliding mode. Adaptive laws are developed to address the upper bound of the additives disturbances on the quadrotor dynamics using only the error position and velocity. The convergence with specific time is assured and the quadrotor stability is proved according to Lyapunov’s theory. Finally, to demonstrate the effectiveness of the proposed controller in this work, simulations are conducted.

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Authors and Affiliations

  1. Engineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers (EMI), Mohammed V University in Rabat, Rabat, Morocco

    Moussa Labbadi & Mohamed Cherkaoui

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  1. Moussa Labbadi
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  2. Mohamed Cherkaoui
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Correspondence to Moussa Labbadi.

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Moussa Labbadi received his M.S. degrees in Mechatronic from University Abdelmalek Essaadi of Tetouan, Morocco, in 2017. He received his Ph.D. degree at the Engineering for Smart and Sustainable Systems Research Center (E3S) of Mohammadia School of Engineers, Mohammed V University in Rabat, Morocco. His research interests include robotics, aerial robotics (quadrotor UAV drones), mechatronics (motion control smart machines), estimation, nonlinear control, fractional-order sliding mode control and aerospace vehicles.

Mohamed Cherkaoui received his state engineer degree in electrical engineering from the Mohammadia School of Engineers, Mohammed V University, Rabat, Morocco, in 1979 and his M.Sc.A. and Ph.D. degrees from the National Polytechnique Institute of Lorraine, Nancy, France, in 1983 and 1990, respectively, all in Electrical Engineering. During 1990–1994, he was an Assistant Professor in Physical department, Kadi Ayyad university, Marrakech, Morocco. In 1995, he joined the Department of Electrical Engineering, Mohammadia School of Engineers, Mohammed V University in Rabat, Morocco, where is currently a Professor and University Research Professor. He is director of Engineering For Smart and Sustainable Systems Research Center (E3S). He has published more than 100 scientific journal articles and conference papers. His current research interests include renewable energy, motor drives, power electronics, electrical machine, unmanned aerial vehicle systems and nonlinear control.

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Labbadi, M., Cherkaoui, M. Robust Adaptive Global Time-varying Sliding-mode Control for Finite-time Tracker Design of Quadrotor Drone Subjected to Gaussian Random Parametric Uncertainties and Disturbances. Int. J. Control Autom. Syst. 19, 2213–2223 (2021). https://doi.org/10.1007/s12555-020-0329-5

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  • DOI: https://doi.org/10.1007/s12555-020-0329-5

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