Adaptive second-order sliding mode control of UAVs for civil applications

Hoang, VT; Singh, AM; Phung, MD; Ha, QP

Adaptive second-order sliding mode control of UAVs for civil applications

Hoang, VT

Singh, AM Phung, MD

Ha, QP

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Publication Type:: Conference Proceeding
Citation:: ISARC 2017 - Proceedings of the 34th International Symposium on Automation and Robotics in Construction, 2017, pp. 816 - 822
Issue Date:: 2017-01-01

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Field	Value	Language
dc.contributor.author	Hoang, VT https://orcid.org/0000-0001-5557-5571	en_US
dc.contributor.author	Singh, AM	en_US
dc.contributor.author	Phung, MD https://orcid.org/0000-0002-8870-5114	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2017-01-01	en_US
dc.identifier.citation	ISARC 2017 - Proceedings of the 34th International Symposium on Automation and Robotics in Construction, 2017, pp. 816 - 822	en_US
dc.identifier.uri	http://hdl.handle.net/10453/114742
dc.description.abstract	Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and disturbances so that their performance may be quickly downgraded in the case of inadequate control, system uncertainties and/or external disturbances. In this study, we deal with the quadrotor low-level control by proposing a robust scheme named the adaptive second-order quasi-continuous sliding mode control (adaptive 2-QCSM). The ultimate objective is for robust attitude control of the UAV in monitoring and inspection of built infrastructure. First, the mathematical model of the quadcopter is derived considering nonlinearity, strong coupling, uncertain dynamics and external disturbances. The control design includes the selection of the sliding manifold and the development of quasi-continuous second-order sliding mode controller with an adaptive gain. Stability of the overall control system is analysed by using a global Lyapunov function for convergence of both the sliding dynamics and adaptation scheme. Extensive simulations have been carried out for evaluation. Results show that the proposed controller can achieve robustness against disturbances or parameter variations and has better tracking performance in comparison with experimental responses of a UAV in a real-time monitoring task.	en_US
dc.relation.ispartof	ISARC 2017 - Proceedings of the 34th International Symposium on Automation and Robotics in Construction	en_US
dc.title	Adaptive second-order sliding mode control of UAVs for civil applications	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and disturbances so that their performance may be quickly downgraded in the case of inadequate control, system uncertainties and/or external disturbances. In this study, we deal with the quadrotor low-level control by proposing a robust scheme named the adaptive second-order quasi-continuous sliding mode control (adaptive 2-QCSM). The ultimate objective is for robust attitude control of the UAV in monitoring and inspection of built infrastructure. First, the mathematical model of the quadcopter is derived considering nonlinearity, strong coupling, uncertain dynamics and external disturbances. The control design includes the selection of the sliding manifold and the development of quasi-continuous second-order sliding mode controller with an adaptive gain. Stability of the overall control system is analysed by using a global Lyapunov function for convergence of both the sliding dynamics and adaptation scheme. Extensive simulations have been carried out for evaluation. Results show that the proposed controller can achieve robustness against disturbances or parameter variations and has better tracking performance in comparison with experimental responses of a UAV in a real-time monitoring task.

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http://hdl.handle.net/10453/114742