MIMO Adaptive High-Order Sliding Mode Control for Quadrotor Attitude Tracking

摘要

This paper addresses the attitude tracking control problem for a quadrotor considering model uncertainty and internal and external disturbances. A high-order sliding mode control scheme and a control gain adaptation law are proposed for a class of nonlinear multiinput multioutput (MIMO) systems to design an attitude controller for a quadrotor. The proposed control method has four advantages: (1) Boundary information of the uncertainties is not necessary; (2) The control signal is continuous, and hence, chattering effects can be attenuated; (3) The measurements of the system state are only the output variable and its first time derivative, which makes this approach very useful in practical applications; and (4) The complexity of the control structure is reduced via the proposed control scheme. Finite time convergence of the tracking errors is achieved, robustness against uncertainty is ensured, and control precision is significantly improved over conventional sliding mode control (SMC). The effectiveness of the presented method was verified through a case study comparison and six-degree-of-freedom (6-DOF) simulations.