NDLI: Finite-time super twisting sliding mode controller based on higher-order sliding mode observer for real-time trajectory tracking of a quadrotor

Content Provider	IET Digital Library
Author	Tripathi, Vibhu Kumar Kamath, Archit Krishna Behera, Laxmidhar Verma, Nishchal K. Nahavandi, Saeid
Abstract	The main focus of this study is to develop a finite-time super-twisting sliding mode control strategy for the quadrotor based on a higher-order sliding mode observer (HOSMO). 12 state variables are required to describe the motion of the quadrotor, of which six state variables, namely the position, altitude, and orientation, are assumed to be obtained from the sensors. The remaining state variables, i.e. the linear and angular velocities, are determined using the HOSMO. Besides, the HOSMO aids in determining the unknown bounded lumped disturbances acting on the quadrotor. The output of the HOSMO is utilised for implementing the finite-time super-twisting sliding mode controller (FTSTSMC). The proposed FTSTSMC ensures finite-time convergence of tracking error with chattering attenuation. The chattering analysis for a super-twisting algorithm is presented in this work. Moreover, the overall system stability is investigated using the Lyapunov theory, and an expression for the time of convergence of the tracking and estimation error is presented. The effectiveness of the proposed methodology is established using numerical simulations and its performance is compared to a finite-time sliding mode observer coupled with a combination of proportional–integral–derivative and continuous sliding-mode controller. This is then validated in real-time using the DJI Matrice 100.
Starting Page	2359
Ending Page	2371
Page Count	13
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 16, Nov (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/16
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2020.0348
Journal	IET Control Theory & Applications
Publisher Date	2020-08-14
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	12 State Variables Continuous Sliding-mode Controller Control System Analysis Control System Synthesis Estimation Error Finite-time Convergence Finite-time Sliding Mode Observer Higher-order Sliding Mode Observer HOSMO Aids Lyapunov Method Multivariable Control System Nonlinear Control System Observers Position Control Quadrotor Real-time Trajectory Tracking Remaining State Variables Sliding Mode Control Strategy Spatial Variables Control Stability Stability in Control Theory Super-twisting Algorithm Synthesis Method Time Super Twisting Sliding Mode Controller Unknown Bounded Lumped Disturbances Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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