Journal
AEROSPACE SCIENCE AND TECHNOLOGY
Volume 78, Issue -, Pages 280-296Publisher
ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
DOI: 10.1016/j.ast.2018.04.027
Keywords
Quadrotor; Terminal sliding mode; Finite time stability; Unmanned aerial vehicle; Cuckoo search algorithm
Categories
Funding
- CONACyT (Consejo Nacional de Ciencia y Tecnologia) [285279, 1537]
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This work presents a methodology for reducing power consumption on quadrotor vehicles. The proposed methodology combines both, a trajectory design procedure and a controller-gains tuning stage. The quadrotor is operated in closed-loop by means of a terminal sliding modes controller, whose stability analysis is provided by using a strict Lyapunov function. The trajectory design stage allows designing an optimal trajectory with smooth transitions by minimizing a criterion function using dynamic optimization theory. Furthermore, in order to reduce power consumption, a performance index depending on the tracking error and the quadrotor inputs is used on a control-gains tuning stage based on a nature inspired evolutionary meta-heuristic algorithm, namely the cuckoo search algorithm. The quadrotor terminal sliding modes controller is compared to another sliding mode control algorithm, and the performance of each controller is assessed by considering aero-dynamical disturbances and parametric uncertainties. Numerical simulations show that the tracking error and power consumption are reduced when the trajectory tracking and controller-gains tuning stages are used. Besides, it is shown that the proposed terminal sliding modes controller outperforms a conventional sliding mode control scheme. (C) 2018 Elsevier Masson SAS. All rights reserved.
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