Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control

Haiming Du; Jian Sun; Gang Wang

doi:10.1109/ICCSS53909.2021.9721963

Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control

Haiming Du, Jian Sun, Gang Wang

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

To handle the strongly coupled, nonlinear and un-modeled disturbance in UAVs, an adaptive terminal sliding mode control strategy based on characteristic modeling is presented, which achieves improved attitude control accuracy and robustness. Specifically, a characteristic model of quadrotor attitude control is first established. Then, using sliding mode control theory, a characteristic model-based adaptive terminal sliding mode control law is designed and utilized to improve control effects. Finally, simulation and real flight experimental results demonstrate that the proposed method enjoys effectiveness and superiority.

Original language	English
Title of host publication	2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	314-319
Number of pages	6
ISBN (Electronic)	9781665402453
DOIs	https://doi.org/10.1109/ICCSS53909.2021.9721963
Publication status	Published - 2021
Event	2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021 - Beijing, China Duration: 10 Dec 2021 → 12 Dec 2021

Publication series

Name	2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021

Conference

Conference	2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021
Country/Territory	China
City	Beijing
Period	10/12/21 → 12/12/21

Keywords

adaptive control
attitude control
characteristic model
quadrotor
terminal sliding mode

Access to Document

10.1109/ICCSS53909.2021.9721963

Cite this

Du, H., Sun, J., & Wang, G. (2021). Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control. In 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021 (pp. 314-319). (2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCSS53909.2021.9721963

Du, Haiming ; Sun, Jian ; Wang, Gang. / Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control. 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 314-319 (2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021).

@inproceedings{9514e1fbd81842b780bbbdca207c9df2,

title = "Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control",

abstract = "To handle the strongly coupled, nonlinear and un-modeled disturbance in UAVs, an adaptive terminal sliding mode control strategy based on characteristic modeling is presented, which achieves improved attitude control accuracy and robustness. Specifically, a characteristic model of quadrotor attitude control is first established. Then, using sliding mode control theory, a characteristic model-based adaptive terminal sliding mode control law is designed and utilized to improve control effects. Finally, simulation and real flight experimental results demonstrate that the proposed method enjoys effectiveness and superiority.",

keywords = "adaptive control, attitude control, characteristic model, quadrotor, terminal sliding mode",

author = "Haiming Du and Jian Sun and Gang Wang",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021 ; Conference date: 10-12-2021 Through 12-12-2021",

year = "2021",

doi = "10.1109/ICCSS53909.2021.9721963",

language = "English",

series = "2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "314--319",

booktitle = "2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021",

address = "United States",

}

Du, H, Sun, J & Wang, G 2021, Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control. in 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021. 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021, Institute of Electrical and Electronics Engineers Inc., pp. 314-319, 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021, Beijing, China, 10/12/21. https://doi.org/10.1109/ICCSS53909.2021.9721963

Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control. / Du, Haiming; Sun, Jian ; Wang, Gang.
2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 314-319 (2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control

AU - Du, Haiming

AU - Sun, Jian

AU - Wang, Gang

PY - 2021

Y1 - 2021

N2 - To handle the strongly coupled, nonlinear and un-modeled disturbance in UAVs, an adaptive terminal sliding mode control strategy based on characteristic modeling is presented, which achieves improved attitude control accuracy and robustness. Specifically, a characteristic model of quadrotor attitude control is first established. Then, using sliding mode control theory, a characteristic model-based adaptive terminal sliding mode control law is designed and utilized to improve control effects. Finally, simulation and real flight experimental results demonstrate that the proposed method enjoys effectiveness and superiority.

AB - To handle the strongly coupled, nonlinear and un-modeled disturbance in UAVs, an adaptive terminal sliding mode control strategy based on characteristic modeling is presented, which achieves improved attitude control accuracy and robustness. Specifically, a characteristic model of quadrotor attitude control is first established. Then, using sliding mode control theory, a characteristic model-based adaptive terminal sliding mode control law is designed and utilized to improve control effects. Finally, simulation and real flight experimental results demonstrate that the proposed method enjoys effectiveness and superiority.

KW - adaptive control

KW - attitude control

KW - characteristic model

KW - quadrotor

KW - terminal sliding mode

UR - http://www.scopus.com/inward/record.url?scp=85127663109&partnerID=8YFLogxK

U2 - 10.1109/ICCSS53909.2021.9721963

DO - 10.1109/ICCSS53909.2021.9721963

M3 - Conference contribution

AN - SCOPUS:85127663109

T3 - 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021

SP - 314

EP - 319

BT - 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021

Y2 - 10 December 2021 through 12 December 2021

ER -

Du H, Sun J , Wang G. Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control. In 2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 314-319. (2021 International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2021). doi: 10.1109/ICCSS53909.2021.9721963

Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control

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