A Parallel-Structure-Based Sliding Mode Control for Trajectory Tracking of a Quadrotor UAV

In this paper, aiming at the problem of incomplete yaw angle working range in a class of sliding mode control for quadrotor unmanned aerial vehicle (UAV), a parallel-structure-based sliding mode control (PSMC) method is proposed. Firstly, the dynamic model of the quadrotor UAV is considered to be composed of fully actuated subsystem and underactuated subsystem. For the fully actuated subsystem, the regular sliding mode manifold is used to design the controller. For the underactuated subsystem, the coordinate transformation of the error is taken into account in the sliding mode manifold. The coefficients of the sliding mode manifold can be obtained by the Hurwitz stability analysis. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory. Finally, comparative simulation results show that the PSMC not only improve the working range of yaw angle, but also illustrate the effectiveness of the proposed control method.

Automated summary

In this paper, a parallel-structure-based sliding mode control (PSMC) method is proposed to address the problem of incomplete yaw angle working range in a class of sliding mode control for quadrotor unmanned aerial vehicle (UAV). The controller design is based on the dynamic model of the quadrotor UAV, which is considered to be composed of fully actuated and underactuated subsystems. The stability of the sliding mode manifold coefficients is analyzed using the Hurwitz stability analysis, and the stabilities of both subsystems are demonstrated using Lyapunov theory. Comparative simulation results show that the PSMC improves the working range of yaw angle and validates the effectiveness of the proposed control method.