Title: Trajectory tracking control for uncertain agricultural quadrotor based on combining ASMC and NFTSMC

Authors: Falu Weng; Hui Wei; Yongji Huang; Leilei Hou

Addresses: School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou, China ' School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou, China ' School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou, China ' School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou, China

Abstract: In this paper, the trajectory tracking problem of an agricultural quadrotor UAV subjected to parametric uncertainty, system uncertainties and wind disturbances is studied. Firstly, because the agricultural quadrotor UAV system is a nonlinear system that makes it difficult to control, the system is divided into two subsystems based on its dynamic model: a position-signal-followed subsystem and an attitude-adjusted subsystem. Secondly, a control scheme that combines two parts: an adaptive sliding mode control (ASMC) and a non-singular fast terminal sliding mode control (NFTSMC), is used to control the subsystems. The ASMC is applied to control the position-signal-followed subsystem, in which three self-turning laws are used to estimate the mass change, system uncertainties and wind disturbances. The NFTSMC is used to control the attitude-adjusted subsystem, in which lumped disturbances are estimated by linear extended state observers (LESO). Finally, simulations are given to demonstrate the effectiveness of the developed control scheme.

Keywords: agricultural quadrotor UAV; adaptive sliding mode control; ASMC; self-turning laws; non-singular fast terminal sliding mode control; NFSTMC; linear extended state observer; LESO.

DOI: 10.1504/IJAAC.2023.134559

International Journal of Automation and Control, 2023 Vol.17 No.6, pp.635 - 656

Received: 03 Oct 2022
Accepted: 01 Jan 2023
Published online: 27 Oct 2023 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article