Gene

Adaptive control

Electrical engineering

Physics

Engineering

Control engineering

Aerospace engineering

Artificial intelligence

Nonlinear system

Control system

Chemistry

Control (management)

Lyapunov stability

Integral sliding mode

Quadcopter

Robust control

Sliding mode control

Computer science

Control theory (sociology)

Biochemistry

Lyapunov function

Quantum mechanics

Robustness (evolution)

Backstepping

Dissipative system

International Journal of Control, Automation, & Systems

In this paper, a robust backstepping integral sliding mode control (RBISMC) technique is designed for the flight control of a quadcopter, which is an under-actuated nonlinear system. First, the mathematical model of this highly coupled and under-actuated system is described in the presence of dissipative drag forces. Second, a robust control algorithm is designed for the derived model to accurately track the desired outputs while ensuring the stability of attitude, altitude and position of the quadcopter. A step by step mathematical analysis, based on the Lyapunov stability theory, is performed that endorses the stability of both the fully-actuated and under-actuated subsystems of the aforementioned model. The comparison of proposed RBISMC control algorithm, with fraction order integral sliding mode control (FOISMC), affirms the enhanced performance in terms of faster states convergence, improved chattering free tracking and more robustness against uncertainties in the system.

Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter