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MIMO sliding mode and backstepping control for a quadrotor uav
Abstract
In this paper, tow nonlinear control approaches are proposed to solve the trajectory tracking problem for a quadrotor UAV in presence of external disturbances and model uncertainties. The first one is a sliding mode control which deals with the whole MIMO system despite most of the other approaches that divide the system into multiple subsystems. This method calculates four control laws which realize trajectory tracking of attitude and altitude of quadrotor. The second approach is a block-backstepping method that is designed for MIMO system. As the last part of this paper, position control of quadrotor based on the nonlinear dynamic model is designed using feedback linearization approach, which its combination with proposed sliding mode control or backstepping control gives full control of quadrotor. These control approaches are compared in different simulations and show good performance in tracking a desired path in Cartesian coordinate. They are also capable to deal with model uncertainties and external disturbances.
With the development of science and technology, more and more unmanned aerial vehicles (UAVs) are needed for collaborative search, rescue, reconnaissance, remote sensing and other missions. Multiple UAVs collaborative control is emerging as a promising technology to carry out these missions. Based on the acceleration matching method, a double loop control scheme of quad-rotor UAV is proposed, which effectively reduces the position difference between each UAV and the virtual leader under external disturbances. It also can facilitate cooperative control of multiple quad-rotor UAVs and make further efforts to improve the control quality of the flight system. In order to make quad-rotor UAVs could perform collision avoidance maneuvers with cooperation to reach the desired position, a distributed virtual leader-follower flocking control strategy with parallel-triggered scheme(PTS) is proposed. Unlike traditional flocking control strategy, this strategy is applied to the multiple quad-rotor UAVs platform to solve the problem of flight stability at the condition of obstacles and limited thrust, and takes advantage of PTS to save communication resources. Several simulations are provided to confirm that in the premise of achieving the collision free flocking and obstacle avoidance of quad-rotor UAVs, the proposed strategy can further minimize transmission rate than using event triggered scheme.
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