Desired tracking of delayed quadrotor UAV under model uncertainty and wind disturbance using adaptive super-twisting terminal sliding mode control

Omid Mofid; Saleh Mobayen; Chunwei Zhang; Balasubramanian Esakki

doi:10.1016/j.isatra.2021.06.002

Desired tracking of delayed quadrotor UAV under model uncertainty and wind disturbance using adaptive super-twisting terminal sliding mode control

ISA Trans. 2022 Apr:123:455-471. doi: 10.1016/j.isatra.2021.06.002. Epub 2021 Jun 8.

Authors

Omid Mofid¹, Saleh Mobayen², Chunwei Zhang³, Balasubramanian Esakki⁴

Affiliations

¹ Structural Vibration Control Group, Qingdao University of Technology, Qingdao 266033, China; Department of Electrical Engineering, University of Zanjan, University Blvd., Zanjan 45371-38791, Iran; Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan.
² Department of Electrical Engineering, University of Zanjan, University Blvd., Zanjan 45371-38791, Iran; Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan. Electronic address: mobayen@znu.ac.ir.
³ Structural Vibration Control Group, Qingdao University of Technology, Qingdao 266033, China.
⁴ Centre for Autonomous System Research, Department of Mechanical Engineering, Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology, Chennai, 600062, India.

PMID: 34130859
DOI: 10.1016/j.isatra.2021.06.002

Abstract

In this study, the fully-actuated dynamic equation of quad-rotor as a type of Unmanned Aerial Vehicles (UAVs) is considered in the existence of input-delay, model uncertainty and wind disturbance. Then, a super-twisting terminal sliding mode control approach is planned with the aim of the finite-time attitude and position tracking of quad-rotor UAV considering input-delay, model uncertainty and wind disturbance. The finite time convergence of the tracking trajectory of quad-rotor is proved by Lyapunov theory concept. When the upper bound of the modeling uncertainty and wind disturbance is supposed to be unknown, an adaptive super-twisting terminal sliding mode control is proposed. Therefore, the unknown bounds of the model uncertainty and wind disturbance affecting the quad-rotor UAV are estimated using the adaptive-tuning control laws. Finally, simulation outcomes and experimental verifications are provided to demonstrate the validation and success of planned control technique.

Keywords: Adaptive control; Finite-time convergence; Input-delay; Quad-rotor UAV; Super-twisting sliding surface.