Title: PFOID-SMC approach to mitigate the effect of disturbance and parametric uncertainty on the quadcopter

Authors: Sanjay Kumar; Lillie Dewan

Addresses: Electrical Engineering Department, National Institute of Technology, Kurukshetra, Kurukshetra, Haryana, 136119, India ' Electrical Engineering Department, National Institute of Technology, Kurukshetra, Kurukshetra, Haryana, 136119, India

Abstract: This paper investigates the possible types of disturbance, viz., aerodynamic factors, sensor noise, random noise, wind effect, and parametric uncertainty acting on an unmanned aerial vehicle quadcopter and their adverse effect on the performance. To ensure the desired performance and increase quadcopters' stability, accuracy, and task reliability, disturbances and uncertainties detection and diagnosis are very important. Proportional-fractional order-integral-derivative controller surface-based sliding mode controller is proposed to mitigate the effect of disturbances and uncertainties. The system's stability is proved using the Lyapunov criterion, and performance is validated by simulation. Results of PFOID surface-based SMC are compared with proportional-integral-derivative surface-based sliding mode controller.

Keywords: nonlinear systems; quadcopter dynamic; aerodynamic effects; parametric uncertainty; sensor noise; wind noise; proportional-integral-derivative; PID; proportional fractional-order integral derivative; PFOID; sliding surface; sliding mode controller; SMC.

DOI: 10.1504/IJMIC.2022.125546

International Journal of Modelling, Identification and Control, 2022 Vol.40 No.4, pp.343 - 355

Received: 14 Sep 2021
Accepted: 14 Oct 2021
Published online: 14 Sep 2022 *

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