SECOND-ORDER SLIDING MODE FOR POSITION AND ATTITUDE TRACKING CONTROL OF QUADCOPTER UAV: SUPER-TWISTING ALGORITHM

摘要

Currently, tracking control of UAVs type quadcopter is a hot spot for researchers. In order to solve this control problem, the choice of the appropriate controller, according to the desired objectives, is a fundamental concern. Regardless of the harmful chattering phenomena, sliding mode control (SMC) has shown acceptable performance. In this paper, trajectory tracking control of the quadcopter is carried out through second-order sliding mode control (2-SMC). It is one of the alternative solutions that preserves the advantages of the conventional SMC while avoiding the undesirable chattering effect. Specifically, the super-twisting algorithm, which is modified 2-SMC that prevents the need for any sliding variable derivative, is adopted. For the sake of ensuring stability and enhancing the quadcopter tracking trajectory, a global block control based on the super-twisting algorithm is designed. The proposed technique offers high stability since it allows the derivation of the appropriate control law for each position and attitude state. Simulation results illustrate the efficiency of this approach in terms of stability and tracking control. A comparison study with classical SMC and type-2 fuzzy logic controller is given to clarify the effectiveness of the proposed 2-SMC.