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Model-Based Robust Tracking Attitude and Altitude Control of an Uncertain Quadrotor Under Disturbances

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Abstract

Quadrotor technology offers numerous potential applications, ranging from surveillance and power line inspection to medical delivery and more. However, achieving precise tracking control for these aircraft poses multiple challenges, including random wind disturbances, modeling uncertainties and other aerodynamic factors. To address these challenges, a new robust cooperative control scheme that combines the merits of backstepping control (BC) and non-singular fast terminal sliding mode control (NFTSMC) is developed. The super-twisting algorithm is also used to strengthen the system’s robustness and ensure the reachability of the sliding surfaces in a short time. The closed-loop stability of the proposed flight controller is demonstrated via the Lyapunov criteria. The suggested control scheme can drive the vehicle's attitude and altitude to the targeted trajectories in a short time while compensating for the influence of complex disturbances and modeling inaccuracies. The accuracy of the recommended control scheme was examined using a quadrotor aircraft exposed to random external disturbances and modeling uncertainties. Computer simulation as well as processor-in-the-loop (PIL) tests on a commercial autopilot board are executed to verify the effectiveness of the proposed strategy. Finally, multiple comparisons with recent nonlinear controllers are also realized to show the merit of the developed method.

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Abbreviations

\(\Phi ,{ }\Theta ,{ }\Psi\) :

Roll, Pitch and yaw angles

\(x,y,z\) :

Cartesian positions

\(J_x ,{ }J_y ,J_z\) :

Inertia moments

\(b\) :

Thrust factor

\(d\) :

Drag constant

\(l\) :

Arm length

\(m\) :

Quadrotor mass

\(g\) :

Gravity acceleration

\(E = (O_E ,X_E ,Y_E ,Z_E )\) :

Earth-frame

\(B = (O_B ,X_B ,Y_B ,Z_B )\) :

Body-frame

\(J_r\) :

Rotor inertia

\(\omega_i\) :

Angular velocity of rotor \(i \in \left\{ {1, 2, 3, 4} \right\}\)

\(U_1\) :

Lift force

\(\tau_\Phi\) :

Rolling torque

\(\tau_\Theta\) :

Pitching torque

\(\tau_\Psi\) :

Yawing torque

\({\Omega }\) :

Residual angular velocity of rotor

\(J_r\) :

Rotor inertia

\(K_\hbar\) :

Drag coefficients

\(d_\Phi ,{ }d_\Theta ,d_\Psi ,d_x ,d_y ,d_z\) :

External perturbations

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Author information

Authors and Affiliations

  1. LISAC laboratory, Department of Physics, Faculty of Sciences Dhar El Mahraz, Sidi Mohamed Ben Abdellah University, Fez, Morocco

    Hamid Hassani

  2. SIGER Laboratory, Faculty of sciences and technology, Sidi Mohamed Ben Abdellah University, Fez, Morocco

    Hamid Hassani & Ali Ahaitouf

  3. SIGER Laboratory, School of Applied Sciences, Sidi Mohamed Ben Abdellah University, Fez, Morocco

    Anass Mansouri

Authors
  1. Hamid Hassani
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  2. Anass Mansouri
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  3. Ali Ahaitouf
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Correspondence to Hamid Hassani.

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Communicated by Chang-Hun Lee.

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Hassani, H., Mansouri, A. & Ahaitouf, A. Model-Based Robust Tracking Attitude and Altitude Control of an Uncertain Quadrotor Under Disturbances. Int. J. Aeronaut. Space Sci. (2024). https://doi.org/10.1007/s42405-024-00742-4

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  • DOI: https://doi.org/10.1007/s42405-024-00742-4

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