Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties

Omid Mofid; Saleh Mobayen

doi:10.1016/j.isatra.2017.11.010

Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties

ISA Trans. 2018 Jan:72:1-14. doi: 10.1016/j.isatra.2017.11.010. Epub 2017 Dec 8.

Authors

Omid Mofid¹, Saleh Mobayen²

Affiliations

¹ Electrical Engineering Department, University of Zanjan, Zanjan, Iran.
² Electrical Engineering Department, University of Zanjan, Zanjan, Iran. Electronic address: mobayen@znu.ac.ir.

PMID: 29224853
DOI: 10.1016/j.isatra.2017.11.010

Abstract

Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.

Keywords: Adaptive tuning; Finite-time convergence; Parametric uncertainties; Sliding mode control; Unmanned aerial vehicle systems.