Sliding Mode Control-Based Autonomous Control of a Tri-rotor Unmanned Aerial Vehicle

Abid Raza; Fahad Mumtaz Malik; Rameez Khan; Naveed Mazhar; Hameed Ullah; Nigar Ahmed

doi:10.1142/S2737480721500138

Sliding Mode Control-Based Autonomous Control of a Tri-rotor Unmanned Aerial Vehicle

Abid Raza^*
, Fahad Mumtaz Malik
, Rameez Khan
, Naveed Mazhar
, Hameed Ullah
, Nigar Ahmed

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper. First, a comprehensive mathematical model is developed using the Newton-Euler approach for a tri-rotor, which is found to be highly nonlinear and coupled. Then, the equivalent input affine model is extracted by applying a suitable transformation. Finally, the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances, parametric uncertainties, and modeling errors. The proposed controller performance has been verified for appropriate inputs under wind disturbances using MATLAB, and the simulation results are presented.

Original language	English
Article number	2150013
Journal	Guidance, Navigation and Control
Volume	1
Issue number	3
DOIs	https://doi.org/10.1142/S2737480721500138
State	Published - 1 Sep 2021
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2021 Technical Committee on Guidance, Navigation and Control, CSAA.

Keywords

Autonomous control
nonlinear control
sliding mode control
tri-rotor
unmanned aerial vehicle

ASJC Scopus subject areas

Aerospace Engineering
Control and Systems Engineering
Electrical and Electronic Engineering
Safety, Risk, Reliability and Quality

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Cite this

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title = "Sliding Mode Control-Based Autonomous Control of a Tri-rotor Unmanned Aerial Vehicle",

abstract = "A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper. First, a comprehensive mathematical model is developed using the Newton-Euler approach for a tri-rotor, which is found to be highly nonlinear and coupled. Then, the equivalent input affine model is extracted by applying a suitable transformation. Finally, the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances, parametric uncertainties, and modeling errors. The proposed controller performance has been verified for appropriate inputs under wind disturbances using MATLAB, and the simulation results are presented.",

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AU - Raza, Abid

AU - Malik, Fahad Mumtaz

AU - Khan, Rameez

AU - Mazhar, Naveed

AU - Ullah, Hameed

AU - Ahmed, Nigar

PY - 2021/9/1

Y1 - 2021/9/1

N2 - A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper. First, a comprehensive mathematical model is developed using the Newton-Euler approach for a tri-rotor, which is found to be highly nonlinear and coupled. Then, the equivalent input affine model is extracted by applying a suitable transformation. Finally, the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances, parametric uncertainties, and modeling errors. The proposed controller performance has been verified for appropriate inputs under wind disturbances using MATLAB, and the simulation results are presented.

AB - A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper. First, a comprehensive mathematical model is developed using the Newton-Euler approach for a tri-rotor, which is found to be highly nonlinear and coupled. Then, the equivalent input affine model is extracted by applying a suitable transformation. Finally, the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances, parametric uncertainties, and modeling errors. The proposed controller performance has been verified for appropriate inputs under wind disturbances using MATLAB, and the simulation results are presented.

KW - Autonomous control

KW - nonlinear control

KW - sliding mode control

KW - tri-rotor

KW - unmanned aerial vehicle

UR - https://www.scopus.com/pages/publications/85136065435

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DO - 10.1142/S2737480721500138

M3 - Article

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SN - 2737-4807

VL - 1

JO - Guidance, Navigation and Control

JF - Guidance, Navigation and Control

IS - 3

M1 - 2150013

ER -

Sliding Mode Control-Based Autonomous Control of a Tri-rotor Unmanned Aerial Vehicle

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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