Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization

被引：53
|
作者：
Noordin, Aminurrashid [1 ,2 ]
Basri, Mohd Ariffanan Mohd [1 ]
Mohamed, Zaharuddin [1 ]
Lazim, Izzuddin Mat [3 ]
机构：
[1] Univ Teknol Malaysia UTM, Fac Engn, Sch Elect Engn, Johor Baharu 81310, Johor, Malaysia
[2] Univ Tekn Malaysia Melaka, Fac Elect & Elect Engn Technol, Durian Tunggal 76100, Melaka, Malaysia
[3] Univ Sains Islam Malaysia, Fac Engn & Built Environm, Nilai 71800, Negeri Sembilan, Malaysia
来源：
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING | 2021年 / 46卷 / 02期
关键词：
Quadrotor; Adaptive PID; Fuzzy logic compensator; Lyapunov stability; Parameter uncertainties; Wind disturbances; DESIGN;
D O I：
10.1007/s13369-020-04742-w
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
This paper proposes an auto-tuning adaptive proportional-integral-derivative control (APIDC) system for attitude and position stabilization of quadrotor unmanned aerial vehicle (UAV) under parameter uncertainties and external disturbances. By employing sliding mode control as the adaptive mechanism, this technique can overcome the manual controller's re-tuning gains in a proportional-integral-derivative controller. Furthermore, a fuzzy compensator is used to eliminate the chattering phenomena caused by the sliding mode control. The auto-tuning process is based on the gradient descent technique and the Lyapunov stability theorem. Using simulations, the proposed APIDC scheme is able to achieve a satisfactory attitude and position tracking performance of the quadrotor UAV. The proposed APIDC system also shows high robustness under parameter uncertainties and external disturbances.
引用
收藏
页码：963 / 981
页数：19
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