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Trajectory tracking control of quadrotor under variable payloads with model-free controller and sliding mode control technology

Xu Zou (Northwestern Polytechnical University, Xi'an, China)
Zhenbao Liu (School of Civil Aviation, Northwestern Polytechnical University, Xi'an, China)
HongGang Gao (School of Civil Aviation, Northwestern Polytechnical University, Xi'an, China)
Wen Zhao (School of Civil Aviation, Northwestern Polytechnical University, Xi'an, China)

Aircraft Engineering and Aerospace Technology

ISSN: 0002-2667

Article publication date: 15 September 2021

Issue publication date: 30 November 2021

237

Abstract

Purpose

This study aims to deal with the problem of trajectory tracking control for the quadrotor under external environmental disturbance and variable payloads.

Design/methodology/approach

In the field of unmanned aerial vehicle (UAV) control, external environmental disturbance and internal variable payloads as two major interference factors lead to control performance degradation or even instability, thus a trajectory tracking controller which innovatively combines sliding mode control technology and model-free control technique is proposed. The proposed controller is constructed with a learning rate-based sliding mode controller and an ultra-local model. Based on the proposed controller, the nonlinear system model of variable load quadrotor is locally estimated and the system’s uncertainties and disturbances can be compensated.

Findings

The simulation and actual test results demonstrate the satisfactory control performance and the robustness of the proposed controller compared with the PID and Backstepping controller under external environmental disturbance and variable payloads. Moreover, the proposed controller solves the trajectory tracking control problem not only when payloads change at the center of gravity but also when the position of load variation deviates from the center of gravity.

Practical implications

In both military and civilian domains, the quadrotor may encounter such situations that the payloads change, such as transporting goods, aerial refueling and so on. As a large internal interference factor, variable load tends to lead to unstable control. The research results provide theoretical guidance and technical support for trajectory tracking control of quadrotor under variable payloads.

Originality/value

The proposed controller combines learning rate-based sliding mode controller and model-free control technique to achieve a more efficient and accurate trajectory control of the quadrotor when considering system uncertainties and the load variation that happens in the unknown location.

Keywords

Acknowledgements

This work is supported by the National Nature Science Foundation of China (Grant no.52072309), the Key Research and Development Program of Shaanxi (Program No. 2019ZDLGY14-02–01), the Supported by Shenzhen Fundamental Research Program (No. JCYJ20190806152203506), and the Supported by Aeronautical Science Foundation of China (No. ASFC-2018ZC53026).

Citation

Zou, X., Liu, Z., Gao, H. and Zhao, W. (2021), "Trajectory tracking control of quadrotor under variable payloads with model-free controller and sliding mode control technology", Aircraft Engineering and Aerospace Technology, Vol. 93 No. 10, pp. 1533-1546. https://doi.org/10.1108/AEAT-12-2020-0312

Publisher

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Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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