Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance

Abstract

In this paper, a 6-Degrees-of-Freedom (6-DOF) Unmanned Aerial Vehicle (UAV) system with external disturbance corresponding to sensor failure is considered. The control method is presented in two parts. In the first part, the upper bound of external disturbance is known and a Proportional-Integral-Derivative (PID) Sliding Mode Control (SMC) technique is planned for maintaining the desired position in the finite time. Whereas, the upper bound of the external disturbance is considered unknown in the second part and the adaptive PID-SMC method is offered for stability and position tracking control of UAV systems. Using the Lyapunov stability notion, the offered control method proves that the quadrotor's states can be tracked and stabilized in the finite time. Moreover, for the approximation of unknown bound of the external disturbances which are entered in the quadrotor dynamic model at any moment, adaptive control laws have been applied. Finally, simulation outcomes are provided to display the efficiency of the recommended technique.

Keywords

• Quadrotor UAVs
• finite-time stability
• sliding mode control
• external disturbance
• adaptive control procedure