Trajectory Tracking Control for a QUAV Based on Second Order Sliding Mode

被引：0
|
作者：
Shi, Wuxi [1 ]
Yang, Wei [1 ]
Gong, Lisen [2 ]
机构：
[1] Tiangong Univ, Sch Elect Engn & Automat, Tianjin 300387, Peoples R China
[2] Weifang Engn Vocat Coll, Weifang 262500, Shandong, Peoples R China
来源：
PROCEEDINGS OF THE 32ND 2020 CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2020) | 2020年
关键词：
QUAV; fully actuated subsystem; underactuated subsystem; sliding mode control; QUADROTOR; SYSTEMS; UAVS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, a position and attitude tracking control approach is designed for a quadrotor unmanned aerial vehicle (QUAV). In the controller design, the entire control system is divided into two parts: a fully actuated subsystem and an underactuated subsystem. For the fully actuated subsystem, a traditional sliding mode controller is proposed, while a novel second-order sliding mode controller is developed for the underactuated subsystem. It is proved that all the signals in the overall system are bounded, and that all the state variables can track the reference trajectories. The simulation results demonstrate the effectiveness of the proposed approach.
引用
收藏
页码：5079 / 5083
页数：5
相关论文
共 50 条
  • [1] Trajectory Tracking Control for Mobile Robots Based on Second Order Fast Terminal Sliding Mode
    Wang Hui
    Huang Yiqing
    Ge Yuan
    Gao Wengen
    [J]. PROCEEDINGS 2018 33RD YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2018, : 581 - 584
  • [2] Second Order Fast Terminal Sliding Mode Control for Trajectory Tracking of QUAVs
    Yang, Wei
    Shi, Wuxi
    Li, Baoquan
    [J]. PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021), 2021, : 4955 - 4960
  • [3] Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control
    Matraji, Imad
    Al-Durra, Ahmed
    Haryono, Andri
    Al-Wahedi, Khaled
    Abou-Khousa, Mohamed
    [J]. CONTROL ENGINEERING PRACTICE, 2018, 72 : 167 - 176
  • [4] Trajectory Tracking Control Method Based on Adaptive Higher Order Sliding Mode
    He, Jingang
    Meng, Yuanjie
    You, Jun
    Zhang, Jin
    Wang, Yuanzhuo
    Zhang, Cheng
    [J]. APPLIED SCIENCES-BASEL, 2022, 12 (16):
  • [5] Research on the Trajectory Tracking of Adaptive Second-Order Sliding Mode Control Based on Super-Twisting
    Bei, Shaoyi
    Hu, Hongzhen
    Li, Bo
    Tian, Jing
    Tang, Haoran
    Quan, Zhenqiang
    Zhu, Yunhai
    [J]. WORLD ELECTRIC VEHICLE JOURNAL, 2022, 13 (08):
  • [6] A nonlinear trajectory tracking algorithm design based on second-order sliding mode control for mobile robots
    Ge Lian-Zheng
    Li Rui-Feng
    Zhao Li-Jun
    [J]. 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 1184 - 1189
  • [7] Second-Order Terminal Sliding Mode Control for Trajectory Tracking of a Differential Drive Robot
    Cao, Tuan Ngoc Tran
    Pham, Binh Thanh
    Nguyen, No Tan
    Vu, Duc-Lung
    Truong, Nguyen-Vu
    [J]. MATHEMATICS, 2024, 12 (17)
  • [8] Fuzzy Adaptive Second Order Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulator
    Xu, Anding
    Zhao, Song
    Zhu, Huishen
    Wu, Xunwei
    Chen, Yuanbo
    Hu, Zheng
    [J]. 2024 8TH INTERNATIONAL CONFERENCE ON ROBOTICS, CONTROL AND AUTOMATION, ICRCA 2024, 2024, : 40 - 46
  • [9] Second order sliding mode tracking control of underwater vehicles
    Bartolini, G
    Punta, E
    [J]. PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2000, : 65 - 69
  • [10] Perturbed Unicycle Mobile Robots: A Second-Order Sliding-Mode Trajectory Tracking Control
    Rios, Hector
    Mera, Manuel
    Polyakov, Andrey
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2024, 71 (03) : 2864 - 2872
12345