Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor

Walid Alqaisi; Brahim Brahmi; Jawhar Ghommam; Maarouf Saad; Vahe Nerguizian

doi:10.1109/CIVEMSA.2018.8440003

Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor

Walid Alqaisi, Brahim Brahmi, Jawhar Ghommam, Maarouf Saad, Vahe Nerguizian

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

8 Scopus citations

Abstract

The commercial small Unmanned Aerial Vehicle (UAV) quadrotor is very sensitive to perturbation due to its relatively small size and because of being an under-actuated system. In general, some non-modeled parameters, wind disturbance, sensor noise and miscellaneous uncertainties cannot be easily quantified in UAV quadrotor systems. Changes of mass and inertia parameters for pick and place operations add more uncertainties to the system. Traditional controllers might not be robust enough to handle all aforementioned perturbation types. This arises the need of some perturbation compensation for guidance and stability. In this article, the complete system is synthesized as a combination of Hierarchical Perturbation Compensator (HPC) and a Sliding Mode Controller (SMC). With this compensation system, better tracking performance is demonstrated through analysis and simulation. The simulation response shows enhanced performance compared with other conventional methods.

Original language	English
Title of host publication	CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)	9781538646182
DOIs	https://doi.org/10.1109/CIVEMSA.2018.8440003
State	Published - 17 Aug 2018
Externally published	Yes
Event	23rd Annual IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, CIVEMSA 2018 - Ottawa, Canada Duration: 12 Jun 2018 → 13 Jun 2018

Publication series

Name	CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings

Conference

Conference	23rd Annual IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, CIVEMSA 2018
Country/Territory	Canada
City	Ottawa
Period	12/06/18 → 13/06/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Feed-forward Perturbation Compensation
Feedback Perturbation Compensation
Hierarchical Perturbation Compensation
Quadrotor
Sliding Mode Control
UAV

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Media Technology
Instrumentation

Access to Document

10.1109/CIVEMSA.2018.8440003

Cite this

Alqaisi, W., Brahmi, B., Ghommam, J., Saad, M., & Nerguizian, V. (2018). Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor. In CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings Article 8440003 (CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIVEMSA.2018.8440003

Alqaisi, Walid ; Brahmi, Brahim ; Ghommam, Jawhar et al. / Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor. CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. (CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings).

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title = "Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor",

abstract = "The commercial small Unmanned Aerial Vehicle (UAV) quadrotor is very sensitive to perturbation due to its relatively small size and because of being an under-actuated system. In general, some non-modeled parameters, wind disturbance, sensor noise and miscellaneous uncertainties cannot be easily quantified in UAV quadrotor systems. Changes of mass and inertia parameters for pick and place operations add more uncertainties to the system. Traditional controllers might not be robust enough to handle all aforementioned perturbation types. This arises the need of some perturbation compensation for guidance and stability. In this article, the complete system is synthesized as a combination of Hierarchical Perturbation Compensator (HPC) and a Sliding Mode Controller (SMC). With this compensation system, better tracking performance is demonstrated through analysis and simulation. The simulation response shows enhanced performance compared with other conventional methods.",

keywords = "Feed-forward Perturbation Compensation, Feedback Perturbation Compensation, Hierarchical Perturbation Compensation, Quadrotor, Sliding Mode Control, UAV",

author = "Walid Alqaisi and Brahim Brahmi and Jawhar Ghommam and Maarouf Saad and Vahe Nerguizian",

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year = "2018",

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doi = "10.1109/CIVEMSA.2018.8440003",

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Alqaisi, W, Brahmi, B, Ghommam, J, Saad, M & Nerguizian, V 2018, Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor. in CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings., 8440003, CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings, Institute of Electrical and Electronics Engineers Inc., 23rd Annual IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, CIVEMSA 2018, Ottawa, Canada, 12/06/18. https://doi.org/10.1109/CIVEMSA.2018.8440003

Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor. / Alqaisi, Walid; Brahmi, Brahim; Ghommam, Jawhar et al.
CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. 8440003 (CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings).

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

TY - GEN

T1 - Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor

AU - Alqaisi, Walid

AU - Brahmi, Brahim

AU - Ghommam, Jawhar

AU - Saad, Maarouf

AU - Nerguizian, Vahe

PY - 2018/8/17

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N2 - The commercial small Unmanned Aerial Vehicle (UAV) quadrotor is very sensitive to perturbation due to its relatively small size and because of being an under-actuated system. In general, some non-modeled parameters, wind disturbance, sensor noise and miscellaneous uncertainties cannot be easily quantified in UAV quadrotor systems. Changes of mass and inertia parameters for pick and place operations add more uncertainties to the system. Traditional controllers might not be robust enough to handle all aforementioned perturbation types. This arises the need of some perturbation compensation for guidance and stability. In this article, the complete system is synthesized as a combination of Hierarchical Perturbation Compensator (HPC) and a Sliding Mode Controller (SMC). With this compensation system, better tracking performance is demonstrated through analysis and simulation. The simulation response shows enhanced performance compared with other conventional methods.

AB - The commercial small Unmanned Aerial Vehicle (UAV) quadrotor is very sensitive to perturbation due to its relatively small size and because of being an under-actuated system. In general, some non-modeled parameters, wind disturbance, sensor noise and miscellaneous uncertainties cannot be easily quantified in UAV quadrotor systems. Changes of mass and inertia parameters for pick and place operations add more uncertainties to the system. Traditional controllers might not be robust enough to handle all aforementioned perturbation types. This arises the need of some perturbation compensation for guidance and stability. In this article, the complete system is synthesized as a combination of Hierarchical Perturbation Compensator (HPC) and a Sliding Mode Controller (SMC). With this compensation system, better tracking performance is demonstrated through analysis and simulation. The simulation response shows enhanced performance compared with other conventional methods.

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PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Alqaisi W, Brahmi B, Ghommam J, Saad M, Nerguizian V. Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor. In CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8440003. (CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings). doi: 10.1109/CIVEMSA.2018.8440003

Sliding mode controller and hierarchical perturbation compensator in a UAV quadrotor

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this