Trajectory control for a Hexacopter UAV using Nonsingular Terminal Sliding Mode Control

Authors

  • Said Khoudiri
  • Abdelkader Khoudiri
  • Belgacem Toual
  • Mohamed Khaleel

DOI:

https://doi.org/10.54021/seesv5n1-052

Keywords:

UAV, Hexacopter, Newton-Euler formalism, nonsingular terminal sliding mode control, PID

Abstract

Research and development in the field of UAVs have witnessed a significant surge lately. This study aims to design a control strategy for tracking the trajectory of unmanned aerial vehicles (UAV) Hexacopter based on sliding mode control theory. First, the non-linear translational and rotational mathematical model of the Hexacopter is initially derived using the Newton-Euler formulation. Subsequently, a nonsingular fast terminal sliding mode controller (NSTSMC) is developed to enable the system to accurately follow the given flight trajectory, while accounting for variations in the three orientation angles.   For that, six sliding manifolds are designed to have a fast dynamic response, and their stability analysis is verified using the Lyapunov direct method. To enhance the robustness of the flight controller and the control quality, external disturbances are taken into account in the modeling and control development, and chattering reduction is also taken into account. The proposed control's validity and performance are evaluated in MATLAB/Simulink compared to the classical PID controller. The comparative simulation results indicated that the aircraft under the NSTSMC could effectively flow along the predetermined trajectory, and counteract disturbances that had a negligible impact on the path without requiring undue exertion.

References

H. O. Erkol "Attitude controller optimization of four-rotor unmanned air vehicle," International Journal of Micro Air Vehicles, v.10, n.1, p.42–49, 2018. https://doi.org/10.1177/1756829317734835 DOI: https://doi.org/10.1177/1756829317734835

M. ELBAR, A. SOULI, A. BELADEL, B. Ali, and A. Benhaimoura, “Impact study of flexible alternating current transmission system on power flow and power loss in power systems using MATLAB and PSAT”, SEES, vol. 4, no. 1, pp. 348–369, Dec. 2023. https://doi.org/10.54021/seesv4n1-021 DOI: https://doi.org/10.54021/seesv4n1-021

H. Bolandi, M. Rezaei, R. Mohsenipour, H. Nemati, S. M. Smailzadeh "Attitude control of a quadrotor with optimized PID controller," Intelligent Control and Automation, v.4, n.3, p. 335–342, 2013. DOI: 10.4236/ica.2013.43039 DOI: https://doi.org/10.4236/ica.2013.43039

W. Dong, G. Gu, X. Zhu, H. Ding "Modeling and Control of a Quadrotor UAV with Aerodynamic Concepts " World Academy of Science Engineering and Technology ,v.7, p377-385, 2013.

Mohamed, ELBAR; Ahmed Zohair, DJEDDI; Hafaifa, Ahmed; Naas, CHARRAK; Iratni, Abdelhamid; and colak, ilhami (2023) "Evaluation of Reliability Indices for Gas Turbines Based on the Johnson SB Distribution: Towards Practical Development," Emirates Journal for Engineering Research: Vol. 28: Iss. 2, Article 5. https://scholarworks.uaeu.ac.ae/ejer/vol28/iss2/5

L. Yao, M. Cheng "Aerodynamic Performance of Hex-Rotor UAV Considering the Horizontal Airflow" Applied Sciences ,v.9, n. 22,p. 4797, 2019. https://doi.org/10.3390/app9224797 DOI: https://doi.org/10.3390/app9224797

ELBAR M., MERZOUK I., BEALDEL A., REZAOUI M.M., IRATNI A., HAFAIFA A., “Power Quality Enhancement in Four-Wire Systems Under Different Distributed Energy Resource Penetration”, in Electrotehnica, Electronica, Automatica (EEA), 2021, vol. 69, no. 4, pp. 50-58, ISSN 1582-5175. https://doi.org/10.46904/eea.21.69.4.1108006 DOI: https://doi.org/10.46904/eea.21.69.4.1108006

A. Alaimo, V.Artale, C. Milazzo, A.Ricciardello, L. Trefiletti " Mathematical Modeling and Control of a Hexacopter" Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), Atlanta, GA, USA, 28–31, May 2013,p. 1043–105. DOI: https://doi.org/10.1109/ICUAS.2013.6564793

H. Song, H. Shaolin, J. Wenqiang, G. Qiliang " EKF-AF PID-Based Attitude Control Algorithm for UAVs " Hindawi Mobile Information Systems, v. 22.1, Article ID 1543949, 2022. https://doi.org/10.1155/2022/1543949 DOI: https://doi.org/10.1155/2022/1543949

T.H. Chiew, H.-E.Lee, Y.K. Lee, K.M.Chang "Second Order Sliding Mode Controller for Altitude and Yaw Control of Quadcopter" Proceedings of the 11th IEEE International Conference on Control System, Computing and

Engineering (ICCSCE), Penang, August 2021, Malaysia 27–28, p. 97–102. Doi:10.1109/ICCSCE52189.2021.9530850 DOI: https://doi.org/10.1109/ICCSCE52189.2021.9530850

C. Rosales, C. M. Soria, F. G. Rossomando "Identification and adaptive PID Control of a hexacopter UAV based on neural networks," International Journal of Adaptive Control and Signal Processing, v. 33, n. 1, p. 74–91, 2019. DOI: https://doi.org/10.1002/acs.2955

T. Wang, R. Qin, Y. Chen, H. Snoussi "A reinforcement learning approach for UAV target searching and tracking," Multimedia Tools and Applications, v. 78, n. 4, p. 4347–4364, 2019. https://doi.org/10.1007/s11042-018-5739-5 DOI: https://doi.org/10.1007/s11042-018-5739-5

J. Songming, G. Haiyue, Z. Xiaokun, L. Dengpan "Fault Tolerant Control Algorithm of Hexarotor UAV " Journal of Robotics ,v.20, Hindawi, 2020. https://doi.org/10.1155/2020/8829329 DOI: https://doi.org/10.1155/2020/8829329

S, Chaoran, S. A. Agha, M.Zaharuddin, M. H. Shaheed "Optimised Sliding Mode Control of a Hexacopter: Simulation and Experiments" Electronics ,v.11, n.16, p. 2519, 2022. https://doi.org/10.3390/electronics11162519 DOI: https://doi.org/10.3390/electronics11162519

Y, Feng, Xinghuo Yu, F, Han "On nonsingular terminal sliding-mode control of nonlinear systems" Automatica,v.49, n.6, p.1715-1722, 2013. https://doi.org/10.1016/j.automatica.2013.01.051. DOI: https://doi.org/10.1016/j.automatica.2013.01.051

L. He, C,Tang. "Two-Phase Non-Singular Terminal Sliding Mode Control of Nonlinear Systems" Applied Sciences,v.13, n. 23,p. 12684, 2023. https://doi.org/10.3390/app132312684 DOI: https://doi.org/10.3390/app132312684

Downloads

Published

2024-04-05

How to Cite

Khoudiri, S., Khoudiri, A., Toual, B., & Khaleel , M. (2024). Trajectory control for a Hexacopter UAV using Nonsingular Terminal Sliding Mode Control . STUDIES IN ENGINEERING AND EXACT SCIENCES, 5(1), 988–1010. https://doi.org/10.54021/seesv5n1-052