Robust Hovering Control of a Quadrotor

Muhammad Maaruf; Sami El Ferik; Abdul Wahid A. Saif

doi:10.1109/SSD54932.2022.9955496

Robust Hovering Control of a Quadrotor

Muhammad Maaruf, Sami El Ferik, Abdul Wahid A. Saif

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper investigates the hovering control of a quadrotor with dynamic uncertainties. The quadrotor dynamic model is partitioned into three subsystems: the attitude subsystem, the altitude subsystem, and the position subsystem. An adaptive fractional-order sliding mode controller (AFSMC) is constructed for the vertical position to keep the quadrotor at the required hovering height while the horizontal position is stabilized with the proportional-derivative (PD) controller. Furthermore, in order to control the orientation of the quadrotor, a robust nonsingular fast terminal sliding mode controller (NFTSMC) is developed for the attitude subsystem. The proposed control scheme enables the quadrotor to hover with an excellent transient state, high accuracy, and small settling time. Finally, simu-lation results illustrate the effective performance of the proposed scheme.

Original language	English
Title of host publication	2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2180-2185
Number of pages	6
ISBN (Electronic)	9781665471084
DOIs	https://doi.org/10.1109/SSD54932.2022.9955496
State	Published - 2022
Event	19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 - Setif, Algeria Duration: 6 May 2022 → 10 May 2022

Publication series

Name	2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022

Conference

Conference	19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022
Country/Territory	Algeria
City	Setif
Period	6/05/22 → 10/05/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

Keywords

Fractional order sliding mode control
Hovering control
Quadrotor
nonsingular fast terminal sliding mode control

ASJC Scopus subject areas

Instrumentation
Computer Networks and Communications
Hardware and Architecture
Signal Processing
Electrical and Electronic Engineering
Mechanical Engineering
Safety, Risk, Reliability and Quality

Access to Document

10.1109/SSD54932.2022.9955496

Cite this

Maaruf, M., Ferik, S. E., & Saif, A. W. A. (2022). Robust Hovering Control of a Quadrotor. In 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 (pp. 2180-2185). (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD54932.2022.9955496

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title = "Robust Hovering Control of a Quadrotor",

abstract = "This paper investigates the hovering control of a quadrotor with dynamic uncertainties. The quadrotor dynamic model is partitioned into three subsystems: the attitude subsystem, the altitude subsystem, and the position subsystem. An adaptive fractional-order sliding mode controller (AFSMC) is constructed for the vertical position to keep the quadrotor at the required hovering height while the horizontal position is stabilized with the proportional-derivative (PD) controller. Furthermore, in order to control the orientation of the quadrotor, a robust nonsingular fast terminal sliding mode controller (NFTSMC) is developed for the attitude subsystem. The proposed control scheme enables the quadrotor to hover with an excellent transient state, high accuracy, and small settling time. Finally, simu-lation results illustrate the effective performance of the proposed scheme.",

keywords = "Fractional order sliding mode control, Hovering control, Quadrotor, nonsingular fast terminal sliding mode control",

author = "Muhammad Maaruf and Ferik, \{Sami El\} and Saif, \{Abdul Wahid A.\}",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 ; Conference date: 06-05-2022 Through 10-05-2022",

year = "2022",

doi = "10.1109/SSD54932.2022.9955496",

language = "English",

series = "2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022",

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}

Maaruf, M, Ferik, SE & Saif, AWA 2022, Robust Hovering Control of a Quadrotor. in 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022, Institute of Electrical and Electronics Engineers Inc., pp. 2180-2185, 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022, Setif, Algeria, 6/05/22. https://doi.org/10.1109/SSD54932.2022.9955496

Robust Hovering Control of a Quadrotor. / Maaruf, Muhammad; Ferik, Sami El ; Saif, Abdul Wahid A.
2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 2180-2185 (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ferik, Sami El

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PY - 2022

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N2 - This paper investigates the hovering control of a quadrotor with dynamic uncertainties. The quadrotor dynamic model is partitioned into three subsystems: the attitude subsystem, the altitude subsystem, and the position subsystem. An adaptive fractional-order sliding mode controller (AFSMC) is constructed for the vertical position to keep the quadrotor at the required hovering height while the horizontal position is stabilized with the proportional-derivative (PD) controller. Furthermore, in order to control the orientation of the quadrotor, a robust nonsingular fast terminal sliding mode controller (NFTSMC) is developed for the attitude subsystem. The proposed control scheme enables the quadrotor to hover with an excellent transient state, high accuracy, and small settling time. Finally, simu-lation results illustrate the effective performance of the proposed scheme.

AB - This paper investigates the hovering control of a quadrotor with dynamic uncertainties. The quadrotor dynamic model is partitioned into three subsystems: the attitude subsystem, the altitude subsystem, and the position subsystem. An adaptive fractional-order sliding mode controller (AFSMC) is constructed for the vertical position to keep the quadrotor at the required hovering height while the horizontal position is stabilized with the proportional-derivative (PD) controller. Furthermore, in order to control the orientation of the quadrotor, a robust nonsingular fast terminal sliding mode controller (NFTSMC) is developed for the attitude subsystem. The proposed control scheme enables the quadrotor to hover with an excellent transient state, high accuracy, and small settling time. Finally, simu-lation results illustrate the effective performance of the proposed scheme.

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Robust Hovering Control of a Quadrotor

Abstract

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Bibliographical note

Keywords

ASJC Scopus subject areas

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