Authors:
Aimen Messaoui
1
;
Omar Mechali
1
;
Ali Messaoui
2
and
Iheb Smaali
1
Affiliations:
1
Ecole Supérieure Ali Chabati, Réghaia, Algeria
;
2
Laboratoire de Commande des Systèmes Complexes et Simulateurs, Ecole Militaire Polytechnique, Bordj El-Bahri, Algeria
Keyword(s):
The Attitude Tracking Control, Finite-Time Stability, Homogeneous Sliding Mode Control, Pixhawk Autopilot, Quadrotor Aircraft.
Abstract:
This paper presents theoretical and practical aspects of finite-time tracking control of a multirotor attitude system. The vehicle is subjected to matched lumped disturbances. Inspired by the homogeneity theory, an Improved Optimized Homogeneous Twisting Control (IOHTC) is proposed to deal with the fast dynamics’ response of the attitude states. Within the designed control scheme, the chattering issue of discontinuous Sliding Mode Control (SMC) techniques can be mitigated due to the continuous control signal that is generated by a non-switching function in the form of 〖|x|〗^α sign(x),x ∈ R,α ∈ R+. Besides, finite-time convergence of the system’s states can be ensured to achieve accurate control. It is worth mentioning that the disturbance rejection does not require the design of an observer since the control law integrates a compensation term. Stability analysis of the closed-loop system is rigorously investigated by using a homogeneous Lyapunov function. From the practical aspect, t
he control algorithm is embedded onboard the quadrotor’s autopilot through a model-based design approach. A comparative study is made involving the proposed IOHTC strategy and three other controllers. The obtained results show that the suggested controller yields performance improvement regarding accuracy and robustness. Meanwhile, the chattering effect of conventional SMC is remarkably alleviated.
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