ELECTRICA
Original Article

Intelligent Sliding Mode Control for Quadrotor Trajectory Tracking Under External Disturbances

1.

Laboratory of Materials, Energy, and Control System, Hassan II University, Casablanca, Morocco

2.

Laboratory of Innovation in Management and Engineering for Business (LIMIE), Higher Institute of Engineering and Business (ISGA), Marrakesh, Morocco

3.

Department of Mathematics and Systems, Royal School of Aeronautics, Marrakesh, Morocco

4.

Laboratory of Electrical Systems, Energy Efficiency, and Telecommunications, Cadi-Ayyad University, Marrakesh, Morocco

ELECTRICA 2024; 24: 304-317
DOI: 10.5152/electrica.2024.23101
Read: 260 Downloads: 164 Published: 17 April 2024

This paper proposes particle swarm optimization (PSO) and cuckoo search (CS) approaches based on the sliding mode controller (SMC) structure for the unmanned quadrotor’s flights. The control law is derived from the Lyapunov theory to guarantee the closed-loop stability. Despite unknown disturbance bounds, the simulation experiments on the nonlinear quadrotor’s model prove that these intelligent controllers are very effective for position control, attitude stabilization, automatic take-off and landing, and trajectory tracking missions. Conducted comparisons to the intelligent proportional integral derivative structure through PSO, CS, genetic algorithms, neural networks, fuzzy logic, and some hybrid techniques proposed in previous works of quadrotor control, confirm the superiority of PSO-SMC in terms of robustness and adaptability.

Cite this article as: N. El Gmili, K. El Hamidi, M. Mjahed, A. El Kari and H. Ayad, “Intelligent sliding mode control for quadrotor trajectory tracking under external disturbances,” Electrica, 24(2), 304-317, 2024.

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EISSN 2619-9831