Abstract
In this paper, a dynamic PID sliding mode controller for the path following of unmanned aerial vehicles UAV is shown. This strategy consists of dividing the quadrotor UAV dynamics into the position and attitude loop, and by implementing a coordinate transformation, the desired attitude is obtained. First, a dynamic control law is implemented for the attitude loop by considering independent sliding mode control law and a PID controller. A suitable Lyapunov function is applied to prove the integral sliding mode control law’s stability to track the desired position reference. By a similar procedure, the PID and integral sliding mode control law are obtained by providing a dynamic attitude position control law to track the desired attitude. The proposed control strategy drives the integral sliding variable and its first derivative to zero in finite time to achieve a fast convergence of the error variable to zero. In this case, selecting an appropriate Lyapunov functional allows the design of the suitable integral sliding mode control law. Two numerical experiments are offered to validate the theoretical results obtained in this study, and finally, the discussion and conclusions about the theoretical and experimental results are analyzed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ajeil, F.H., Ibraheem, I.K., Azar, A.T., Humaidi, A.J.: Autonomous navigation and obstacle avoidance of an omnidirectional mobile robot using swarm optimization and sensors deployment. Int. J. Adv. Robot. Syst. 17(3), 1–15 (2020). https://doi.org/10.1177/1729881420929498
Ajeil, F.H., Ibraheem, I.K., Azar, A.T., Humaidi, A.J.: Grid-based mobile robot path planning using aging-based ant colony optimization algorithm in static and dynamic environments. Sensors 20(7), 1880 (2020)
Ariyibi, S.O., Tekinalp, O.: Quaternion-based nonlinear attitude control of quadrotor formations carrying a slung load. Aerosp. Sci. Technol. 105(105), 995 (2020)
Armghan, H., Yang, M., Armghan, A., Ali, N., Wang, M., Ahmad, I.: Design of integral terminal sliding mode controller for the hybrid AC/DC microgrids involving renewables and energy storage systems. Int. J. Electr. Power Energy Syst. 119(105), 857 (2020)
Azar, A.T., Serrano, F.E.: Stabilization of port hamiltonian chaotic systems with hidden attractors by adaptive terminal sliding mode control. Entropy 22(1), 122 (2020)
Banza, A.T., Tan, Y., Mareels, I.: Integral sliding mode control design for systems with fast sensor dynamics. Automatica 119(109), 093 (2020)
Conker, C., Baltacioglu, M.K.: Fuzzy self-adaptive PID control technique for driving HHO dry cell systems. Int. J. Hydrogen Energy (2020)
Feng, Z., Liang, W., Ling, J., Xiao, X., Tan, K.K., Lee, T.H.: Integral terminal sliding-mode-based adaptive integral backstepping control for precision motion of a piezoelectric ultrasonic motor. Mech. Syst. Signal Process. 144(106), 856 (2020)
Hou, Z., Lu, P., Tu, Z.: Nonsingular terminal sliding mode control for a quadrotor UAV with a total rotor failure. Aerosp. Sci. Technol. 98(105), 716 (2020)
Humaidi, A.J., Ibraheem, I.K., Azar, A.T., Sadiq, M.E.: A new adaptive synergetic control design for single link robot arm actuated by pneumatic muscles. Entropy 22(7), 723 (2020)
Ibraheem, G.A.R., Azar, A.T., Ibraheem, I.K., Humaidi, A.J.: A novel design of a neural network-based fractional PID controller for mobile robots using hybridized fruit fly and particle swarm optimization. Complexity 2020, 1–18 (2020)
Li, Y., Chen, M., Li, T., Shi, P.: Anti-disturbance reference mode resilient dynamic output feedback control for turbofan systems. Appl. Math. Comput. 378(125), 183 (2020)
Ma, G., Pagilla, P.R.: Periodic event-triggered dynamic output feedback control of switched systems. Nonlinear Anal. Hybrid Syst. 31, 247–264 (2019)
Miranda-Colorado, R., Aguilar, L.T.: Robust PID control of quadrotors with power reduction analysis. ISA Trans. 98, 47–62 (2020)
Najm, A.A., Ibraheem, I.K., Azar, A.T., Humaidi, A.J.: Genetic optimization-based consensus control of multi-agent 6-DOF UAV system. Sensors 20(12), 3576 (2020)
Norsahperi, N., Danapalasingam, K.: An improved optimal integral sliding mode control for uncertain robotic manipulators with reduced tracking error, chattering, and energy consumption. Mech. Syst. Signal Process. 142(106), 747 (2020)
Pan, L., Wang, X.: Variable pitch control on direct-driven PMSG for offshore wind turbine using repetitive-TS fuzzy PID control. Renew. Energy 159, 221–237 (2020)
Shahid, M.I., Ling, Q.: Event-triggered distributed dynamic output-feedback dissipative control of multi-weighted and multi-delayed large-scale systems. ISA Trans. 96, 116–131 (2020)
Soliman, M., Azar, A.T., Saleh, M.A., Ammar, H.H.: Path planning control for 3-OMNI fighting robot using PID and fuzzy logic controller. The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019), pp. 442–452. Springer, Cham (2020)
Sun, W., Li, Q., Zhao, C., Nguang, S.K.: Mode-dependent dynamic output feedback H infinity control of networked systems with Markovian jump delay via generalized integral inequalities. Inf. Sci. 520, 105–116 (2020)
Surjagade, P.V., Shimjith, S., Tiwari, A.: Second order integral sliding mode observer and controller for a nuclear reactor. Nuclear Eng. Technol. 52(3), 552–559 (2020)
Wang, L., Liu, J., Li, Y.: The optimal controller design framework for PID-based vibration active control systems via non-probabilistic time-dependent reliability measure. ISA Tran. 105, 129–145 (2020)
Xing, Y., Na, J., Costa-Castelló, R.: Composite PID control with unknown dynamics estimator for rotomagnet plant. IFAC-PapersOnLine 51(4), 817–822 (2018)
Yang, R., Li, L., Su, X.: Finite-region dissipative dynamic output feedback control for 2-D FM systems with missing measurements. Inf. Sci. 514, 1–14 (2020)
Zeng, W., Jiang, Q., Xie, J., Yu, T.: A fuzzy-PID composite controller for core power control of liquid molten salt reactor. Ann. Nuclear Energy 139(107), 234 (2020)
Acknowledgment
This research is funded by Prince Sultan University, Riyadh, Kingdom of Saudi Arabia. Special acknowledgement to Robotics and Internet-of-Things Lab (RIOTU), Prince Sultan University, Riyadh, Saudi Arabia. We would like to show our gratitude to Prince Sultan University, Riyadh, Saudi Arabia.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Azar, A.T., Serrano, F.E., Kamal, N.A., Koubaa, A., Ammar, A. (2021). Dynamic Integral PID Sliding Mode Attitude-Position Control of Unmanned Aerial Vehicles. In: Hassanien, AE., Chang, KC., Mincong, T. (eds) Advanced Machine Learning Technologies and Applications. AMLTA 2021. Advances in Intelligent Systems and Computing, vol 1339. Springer, Cham. https://doi.org/10.1007/978-3-030-69717-4_61
Download citation
DOI: https://doi.org/10.1007/978-3-030-69717-4_61
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-69716-7
Online ISBN: 978-3-030-69717-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)