Minimum Jerk Trajectory Tracking and Control of Quadcopter Using Adaptive Sliding Mode Controller

Abstract

In recent years, Unmanned Aerial Vehicles (UAVs) have become increasingly popular research topics due to their wide applications and advantages. In addition, it is a good platform for control systems research, as it is a highly non-linear and underactuated system. The quadcopter is a four-rotor UAV which is a multivariable, nonlinear, unstable and under-actuated system. This research work addresses a minimum jerk trajectory generation and an Adaptive Sliding Mode Controller (ASMC), which is used for the attitude, position, altitude, and heading control of the quadcopter UAV with parameter uncertainty and external disturbance. Continuous adaptive dynamic vectors are used to minimize chattering problems in Sliding Mode Control (SMC) and Lyapunov stability analysis is used to achieve asymptotic stability. To verify the robustness of the proposed control method, the controller was implemented in the quadcopter using MATLAB / Simulink for simulation. The MATLAB/Simulink simulation shows that the proposed controller adapts to the unknown mass of quadcopter between 0.1kg - 6kg and it performs effectively at the reference of altitude, position, attitude, and heading.