In aerial load transportation or farming applications, inaccurate load mass estimation can disrupt the system and harm closed-loop performance. In this study, an approach based on Adaptive Sliding Mode Control (SMC)is proposed to stabilize and ensure the trajectory tracking of a quadrotor with a variable payload. This strategy consists of three fundamental components, first stabilizing quadrotor altitude and attitude and precise trajectory tracking, estimation of quadrotor parameters, focusing on the variable payload mass, and lastly comprehensive state observation capabilities. The Lyapunov stability concept provides validation for the effectiveness of SMC and adaptation mechanism law. We demonstrate the effectiveness and robustness of the proposed control technique through extensive numerical simulations in the presence of external disturbances, sensor noise, and parameter uncertainties, emphasizing its applicability to quadrotors with varying payloads.
Enhancing Quadrotor Tracking with Unknown and Variable Payloads Using Adaptive Sliding Mode Techniques
24.07.2024
2567730 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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