Stabilization and Tracking of a Quadrotor Using Modified Sigmoid Sliding Mode Control

A modified sigmoid sliding mode control (MS-SMC) approach is proposed for stabilizing and tracking a quadrotor system with a nonlinear sliding surface, where the dynamics model is underactuated, highly coupled, and nonlinear. The constructed nonlinear sliding surface is based on the traditional slid...

Full description

Saved in:
Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 22; no. 10; p. 3618
Main Authors Hu, Mingyuan, Lee, Kyunghyun, Ahn, Hyeongki, Choi, Ahyeong, Kim, Hyunchang, You, Kwanho
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 10.05.2022
MDPI
Subjects
Communication
Control algorithms
Control methods
Controllers
Design
Disturbances
double-loop
Equilibrium
Feedback control
Liapunov functions
Neural networks
nonlinear sliding surface
quadrotor
Sensors
Simulation
Sliding mode control
Stabilization
Subsystems
tracking control
tracking control
quadrotor
nonlinear sliding surface
sliding mode control
double-loop
Online AccessGet full text

Cover

More Information
Summary:A modified sigmoid sliding mode control (MS-SMC) approach is proposed for stabilizing and tracking a quadrotor system with a nonlinear sliding surface, where the dynamics model is underactuated, highly coupled, and nonlinear. The constructed nonlinear sliding surface is based on the traditional sliding mode surface with a modified sigmoid function, allowing the initial value to quickly reach equilibrium. A new type of nonlinear SMC is applied for performance improvement of the quadrotor using the proposed modified sigmoid sliding surface. To control the quadrotor effectively, a double-loop control method is used to design the control rate, in which the position subsystem is the outer loop, and the attitude subsystem is the inner loop.With the Lyapunov function, the stability of the overall closed-loop system is ensured by stabilizing each subsystem step by step. Moreover, from a practical point of view, the system performance under the model uncertainties and external disturbances are also considered. The simulation results show that the proposed MS-SMC performs better than the conventional sliding mode control (CSMC) and the back-stepping sliding mode control (BS-SMC) in terms of stabilization and tracking against external disturbances.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:1424-8220
1424-8220
DOI:10.3390/s22103618