Adaptive sliding mode control applied to quadrotors - a practical comparative study скачать в хорошем качестве

Adaptive sliding mode control applied to quadrotors - a practical comparative study

This paper presents a comparative study, evaluating the advantages and disadvantages of the three most common methods to implement adaptive sliding mode controllers (ASMC). Aiming at testing the compared methods in realistic and harsh conditions, the three controllers are tested far from quasi-static motion and under severe disturbances. The quadrotor was subjected to disturbances such as stabilization under intermittent wind, landing precisely subject to wind-gusts, high-speed trajectory tracking while carrying an unmodeled suspended payload with a center-of-mass offset, and trajectory tracking with a damaged propeller. The performance of the analyzed adaptive sliding mode controllers was also compared to the industrial standard PID controller. Our experimental analysis demonstrates that, in face of such disturbances, one of the analyzed adaptive sliding mode controllers excels when compared to the others, and every ASMC excels when compared to the PID.