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Attitude Control of Quadrotor UAVs Based on Adaptive Sliding Mode

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  • Control Theory and Applications
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Abstract

In this paper, the attitude control of the quadrotor system under external disturbance is studied. A novel adaptive sliding mode control (ASMC) based on the linear extended state observer (LESO) is proposed, and the LESO is designed to estimate the lumped disturbance. An adaptive switching algorithm for changing the switching gain in real time is contained in the proposed ASMC. Then the disturbance estimation error can be compensated by the variable gain switching term in real time, therefore the robustness of the system can be further improved. The stability of the system is proved by Lyapunov theory. Finally, the simulation and experimental results verify the effectiveness of the control method.

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Authors and Affiliations

  1. School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, 430068, China

    Jian Pan, Bing Shao, Jiaxin Xiong & Qi Zhang

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  1. Jian Pan
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  2. Bing Shao
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Correspondence to Jian Pan.

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Jian Pan was born in Wuhan, China. He received his B.Sc. degree from the Hubei University of Technology in 1984. From 1984 to 2002, he was with the Department of Electrical Engineering and Computer Science, Hubei University of Technology. He has been a Professor in the School of Electrical and Electronic Engineering, Hubei University of Technology. His current research interests include control science and engineering, computer control systems, and power electronics. He received Hubei Province Science and Technology Progress Awards, won second prize in 2003 and 2017, third prize in 2005 and 2012. He also received Wuhan City Science and Technology Progress Awards, won third prize in 2012 and second prize in 2014. He is currently a director of Hubei Association of Automation and a director of Wuhan Power Supply Society.

Bing Shao was born in Hubei, China, in 1997. He received his B.E. degree from Hubei University of Technology in 2020. He is currently working toward an M.S. degree in control engineering at Hubei University of Technology. His research interests include sliding mode control, active disturbance rejection control, and robust tracking control with applications to unmanned aerial vehicles.

Jiaxin Xiong was born in Henan, China, in 1996. He received his B.E. degree from Zhengzhou University of Light Industry, Zhengzhou, Henan, China, and an M.S. degree in control engineering from Hubei University of Technology. He is currently working toward a Ph.D. degree in electrical engineering at Southeast University, Nanjing, China. His research interests include sliding mode control, active disturbance rejection control, robust tracking control, and parameter identification algorithm with applications to unmanned aerial vehicles and motors.

Qi Zhang was born in Hubei, China, in 1996. He received his B.E. degree from Wuhan University of Science and Technology, Wuhan, China, and an M.S. degree in control theory and control engineering from Hubei University of Technology. He is currently working toward a Ph.D. degree in traffic information engineering and control at Wuhan University of Technology, Wuhan, China. His research interests include inertial navigation, integrated navigation, and multi-source information fusion with applications to UUV.

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Pan, J., Shao, B., Xiong, J. et al. Attitude Control of Quadrotor UAVs Based on Adaptive Sliding Mode. Int. J. Control Autom. Syst. 21, 2698–2707 (2023). https://doi.org/10.1007/s12555-022-0189-2

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