Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV
This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface t...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/9753870 |
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| _version_ | 1832567934573084672 |
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| author | Yassine El Houm Ahmed Abbou Moussa Labbadi Mohamed Cherkaoui |
| author_facet | Yassine El Houm Ahmed Abbou Moussa Labbadi Mohamed Cherkaoui |
| author_sort | Yassine El Houm |
| collection | DOAJ |
| description | This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness. |
| format | Article |
| id | doaj-art-4d101d193791480cbc7e8c728720b75c |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-4d101d193791480cbc7e8c728720b75c2025-02-03T01:00:13ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742020-01-01202010.1155/2020/97538709753870Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAVYassine El Houm0Ahmed Abbou1Moussa Labbadi2Mohamed Cherkaoui3Engineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers, Mohammed V University in Rabat, MoroccoEngineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers, Mohammed V University in Rabat, MoroccoEngineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers, Mohammed V University in Rabat, MoroccoEngineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers, Mohammed V University in Rabat, MoroccoThis paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.http://dx.doi.org/10.1155/2020/9753870 |
| spellingShingle | Yassine El Houm Ahmed Abbou Moussa Labbadi Mohamed Cherkaoui Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV International Journal of Aerospace Engineering |
| title | Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV |
| title_full | Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV |
| title_fullStr | Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV |
| title_full_unstemmed | Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV |
| title_short | Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV |
| title_sort | optimal new sliding mode controller combined with modified supertwisting algorithm for a perturbed quadrotor uav |
| url | http://dx.doi.org/10.1155/2020/9753870 |
| work_keys_str_mv | AT yassineelhoum optimalnewslidingmodecontrollercombinedwithmodifiedsupertwistingalgorithmforaperturbedquadrotoruav AT ahmedabbou optimalnewslidingmodecontrollercombinedwithmodifiedsupertwistingalgorithmforaperturbedquadrotoruav AT moussalabbadi optimalnewslidingmodecontrollercombinedwithmodifiedsupertwistingalgorithmforaperturbedquadrotoruav AT mohamedcherkaoui optimalnewslidingmodecontrollercombinedwithmodifiedsupertwistingalgorithmforaperturbedquadrotoruav |