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Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle

Roadmap to Improve Tracking-Trajectory Performance in the Presence of External Disturbances

  • Book
  • © 2022

Overview

Authors:
  1. Moussa Labbadi

    1. Engineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers, Mohammed V University in Rabat, Rabat, Morocco

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  2. Yassine Boukal

    1. Department of Aeronautics, Space and Defense, Capgemini Engineering, Toulouse, France

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  3. Mohamed Cherkaoui

    1. Engineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers, Mohammed V University in Rabat, Rabat, Morocco

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  • Presents recent design control schemes for uncertain quadrotor UAV system
  • Provides finite-time flight controls for an uncertain quadrotor subject to disturbances
  • Addresses research in robust fractional-order flight controls for quadrotor UAVs with external disturbances
  • Considers external wind disturbances in the modeling of multirotor UAVs system
  • Presents recent finite-time controls based on fractional-order theory for an uncertain quadrotor in the presence of external disturbances
  • Is written by experts in the field

Part of the book series: Studies in Systems, Decision and Control (SSDC, volume 384)

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Table of contents (11 chapters)

  1. Front Matter

    Pages i-xxi
    Download chapter PDF

  2. Introduction

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 1-18

  3. QUAV Modeling

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 19-47

  4. Stabilization of QUAV Under External Disturbances Using Modified Novel ST Based on Finite-Time SMC

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 49-80

  5. Control of the QUAV by a Hybrid Finite-Time Tracking Technique

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 81-101

  6. Robust Nonlinear Backstepping SMC for QUAV Subjected to External Disturbances

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 103-122

  7. Robust Nonsingular Fast Terminal SMC for Unceratin QUAV Subjected to External Disturbances

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 123-147

  8. Robust Adaptive Global Time-Varying SMC for QUAV Subjected to Gaussian Random Uncertainties/Disturbances

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 149-164

  9. High Order Fractional Controller Based on PID-SMC for the QUAV Under Uncertainties and Disturbance

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 165-190

  10. Global Fractional Controller Based on SMC for the QUAV Under Uncertainties and Disturbances

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 191-211

  11. Robust FO Adaptive Nonsingular FTSMC for Uncertain QUAV Under Random Gaussian Disturbances

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 213-236

  12. Summary and Scope

    • Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui
    Pages 237-240

  13. Back Matter

    Pages 241-249
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Keywords

About this book

This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows:


(i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method.


(ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. 


(iii)  thefractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC.


This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner)interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering. 

Reviews

“I would like to recommend this book to students and researchers interested in the QUAV dynamics model and the sliding mode control.” (Jin Liang, zbMATH 1511.93002, 2023)

Authors and Affiliations

  • Engineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers, Mohammed V University in Rabat, Rabat, Morocco

    Moussa Labbadi, Mohamed Cherkaoui

  • Department of Aeronautics, Space and Defense, Capgemini Engineering, Toulouse, France

    Yassine Boukal

Bibliographic Information

  • Book Title: Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle

  • Book Subtitle: Roadmap to Improve Tracking-Trajectory Performance in the Presence of External Disturbances

  • Authors: Moussa Labbadi, Yassine Boukal, Mohamed Cherkaoui

  • Series Title: Studies in Systems, Decision and Control

  • DOI: https://doi.org/10.1007/978-3-030-81014-6

  • Publisher: Springer Cham

  • eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022

  • Hardcover ISBN: 978-3-030-81013-9Published: 15 September 2021

  • Softcover ISBN: 978-3-030-81016-0Published: 16 September 2022

  • eBook ISBN: 978-3-030-81014-6Published: 14 September 2021

  • Series ISSN: 2198-4182

  • Series E-ISSN: 2198-4190

  • Edition Number: 1

  • Number of Pages: XXI, 249

  • Number of Illustrations: 4 b/w illustrations, 150 illustrations in colour

  • Topics: Control, Robotics, Mechatronics, Control Structures and Microprogramming

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