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A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles

Author

Listed:
  • Nana Cheng

    (College of Science, University of Shanghai for Science and Technology, Shanghai 200093, China
    These authors contributed equally to this work.)

  • Chaoli Wang

    (Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
    These authors contributed equally to this work.)

Abstract

This paper presents a novel switching mode control scheme for the six-DOF hovering control of underactuated quadrotor unmanned aerial vehicles (QUAVs) with strong coupling. Through this paper, the full six states of the position and attitude of the QUAV can be controlled to the special target configuration in a fixed time. First, a continuously differentiable fixed time controller with a state constraint was designed for the position system. Second, a fixed-time integral sliding mode controller was designed for the attitude subsystem. Thirdly, a switching law was designed to switch the above two types of controllers a limited number of times during hovering control. Additionally, the crash problem is fully discussed during the entire control process. In summary, the full-state hover mission was completed. The simulation experiments verify the effectiveness of the control algorithm.

Suggested Citation

  • Nana Cheng & Chaoli Wang, 2023. "A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles," Mathematics, MDPI, vol. 11(4), pages 1-28, February.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:4:p:994-:d:1069977
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    References listed on IDEAS

    as
    1. Tianpeng Huang & Deqing Huang & Zhikai Wang & Awais Shah, 2019. "Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller," Complexity, Hindawi, vol. 2019, pages 1-15, December.
    2. Jinjun Rao & Bo Li & Zhen Zhang & Dongdong Chen & Wojciech Giernacki, 2022. "Position Control of Quadrotor UAV Based on Cascade Fuzzy Neural Network," Energies, MDPI, vol. 15(5), pages 1-18, February.
    3. Fengying Ma & Zhe Yang & Peng Ji, 2022. "Sliding Mode Controller Based on the Extended State Observer for Plant-Protection Quadrotor Unmanned Aerial Vehicles," Mathematics, MDPI, vol. 10(8), pages 1-17, April.
    4. Lei Liu & Junjie Liu & Junfang Li & Yuehui Ji & Yu Song & Liang Xu & Wenxing Niu, 2022. "Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO," Mathematics, MDPI, vol. 10(22), pages 1-26, November.
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