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Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization

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dc.contributor.authorNoordin, Aminurrashiden_US
dc.contributor.authorBasri, Mohd Ariffanan Mohden_US
dc.contributor.authorMohamed, Zaharuddinen_US
dc.contributor.authorLazim, Izzuddin Maten_US
dc.date.accessioned2024-05-29T03:25:11Z
dc.date.available2024-05-29T03:25:11Z
dc.date.issued2020
dc.descriptionArabian Journal for Science and Engineering volume 46, pages963–981 (2021)en_US
dc.description.abstractThis paper proposes an auto-tuning adaptive proportional-integral-derivative control (APIDC) system for attitude and position stabilization of quadrotor unmanned aerial vehicle (UAV) under parameter uncertainties and external disturbances. By employing sliding mode control as the adaptive mechanism, this technique can overcome the manual controller's re-tuning gains in a proportional-integral-derivative controller. Furthermore, a fuzzy compensator is used to eliminate the chattering phenomena caused by the sliding mode control. The auto-tuning process is based on the gradient descent technique and the Lyapunov stability theorem. Using simulations, the proposed APIDC scheme is able to achieve a satisfactory attitude and position tracking performance of the quadrotor UAV. The proposed APIDC system also shows high robustness under parameter uncertainties and external disturbances.en_US
dc.identifier.citationNoordin, A., Mohd Basri, M.A., Mohamed, Z. et al. Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization. Arab J Sci Eng 46, 963–981 (2021). https://doi.org/10.1007/s13369-020-04742-wen_US
dc.identifier.doihttps://doi.org/10.1007/s13369-020-04742-w
dc.identifier.epage981
dc.identifier.issn2193-567X
dc.identifier.issue46
dc.identifier.scopusWOS:000552918300001
dc.identifier.spage963
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85088645240&doi=10.1007%2fs13369-020-04742-w&partnerID=40&md5=a0e56ee337dff05a84a82f2e51a3f99f
dc.identifier.urihttps://link.springer.com/article/10.1007/s13369-020-04742-w
dc.identifier.urihttps://oarep.usim.edu.my/handle/123456789/11899
dc.languageEnglish
dc.language.isoen_USen_US
dc.publisherSpringer Heidelbergen_US
dc.relation.ispartofArabian Journal For Science And Engineeringen_US
dc.subjectQuadrotoren_US
dc.subjectAdaptive PIDen_US
dc.subjectFuzzy logic compensatoren_US
dc.subjectLyapunov stabilityen_US
dc.subjectParameter uncertaintiesen_US
dc.subjectWind disturbancesen_US
dc.titleAdaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilizationen_US
dc.typeArticleen_US
dspace.entity.typePublication

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