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Terminal Sliding Mode Controller Design for a Quadrotor Unmanned Aerial Vehicle

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Applications of Sliding Mode Control in Science and Engineering

Part of the book series: Studies in Computational Intelligence ((SCI,volume 709))

Abstract

This chapter deals with the modeling and the control of a Quadrotor type of Unmanned Aerial Vehicles (UAVs) using a Terminal Sliding Mode Control (TSMC) approach. The objectives of this proposed nonlinear control strategy are the stabilization and path tracking of the altitude and the attitude of such an aircraft. The TSMC structure is designed to overcome several problems occur with the classical SMC one such as the chattering phenomenon. With this TSMC approach, it is guaranteed that the output tracking error converges to zero in a finite time unlike the classical SMC. The main structural difference between all proposed SMC structures, i.e. classical and terminal variants, is defined at the sliding surface form that determines the states dynamics of the controlled Quadrotor by chosen the suitable parameters of this surface. High performances of the proposed TSMC controllers are showed through the tracking of a desired flight path. Demonstrative simulation results are carried out in order to show the effectiveness of the proposed normal SMC and TSMC approaches.

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Author information

Authors and Affiliations

  1. Research Laboratory in Automatic Control (LA.R.A), National Engineering School of Tunis (ENIT), University of Tunis EL MANAR, BP 37, Le Belvédère, 1002, Tunis, Tunisia

    Rabii Fessi, Soufiene Bouallègue & Joseph Haggège

  2. National Engineering School of Gabès (ENIG), University of Gabès, Omar IBN EL KHATTAB Street, Gabès, 6072, Tunisia

    Rabii Fessi

  3. High Institute of Industrial Systems of Gabès (ISSIG), Salaheddine EL AYOUBI Street, 6011, Gabès, Tunisia

    Soufiene Bouallègue

  4. Research and Development Centre, Vel Tech University, Avadi, Chennai, 600062, Tamil Nadu, India

    Sundarapandian Vaidyanathan

Authors
  1. Rabii Fessi
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  2. Soufiene Bouallègue
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  3. Joseph Haggège
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  4. Sundarapandian Vaidyanathan
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Corresponding author

Correspondence to Soufiene Bouallègue .

Editor information

Editors and Affiliations

  1. Research and Development Centre, Vel Tech University, Chennai, Tamil Nadu, India

    Sundarapandian Vaidyanathan

  2. Maritime College and Department of Marine Engineering, National Kaohsiung Marine University, Kaohsiung, Taiwan

    Chang-Hua Lien

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Fessi, R., Bouallègue, S., Haggège, J., Vaidyanathan, S. (2017). Terminal Sliding Mode Controller Design for a Quadrotor Unmanned Aerial Vehicle. In: Vaidyanathan, S., Lien, CH. (eds) Applications of Sliding Mode Control in Science and Engineering. Studies in Computational Intelligence, vol 709. Springer, Cham. https://doi.org/10.1007/978-3-319-55598-0_4

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  • DOI: https://doi.org/10.1007/978-3-319-55598-0_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-55597-3

  • Online ISBN: 978-3-319-55598-0

  • eBook Packages: EngineeringEngineering (R0)

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