Design of set-point weighting-based dynamic integral sliding mode control with nonlinear full-order state observers for quadcopter UAVs

摘要

This research is to develop set-point weighting-based dynamic integral sliding mode control with nonlinear full-order state observers to deal with nonlinear and underactuated coupled systems, and unforeseen circumstances of quadcopter UAVs systems. A comparative assessment through numerical simulations of sliding mode-based nonlinear observer approaches and Kalman filter is presented. These include quasi method, interval type-2 fuzzy logic system, super-twisting algorithm, higher order sliding mode observer, and extended Kalman filter. Chattering, noise rejection, estimation error and time required to track true states are evaluated to demonstrate the performance of each observer. In addition, to assess the proposed controller performance, maximum overshoot, rise time, chattering, and steady-state error are evaluated in relation to the use of each observer.