Sliding mode control of singularly perturbed systems and its application in quad-rotors

ABSTRACT

This paper presents a sliding mode control scheme for tracking control of nonlinear singularly perturbed systems in the presence of model errors and external disturbances. A dual-loop feedback control is developed to provide accurate tracking capability and sufficient robustness to system uncertainties. A sliding mode controller is proposed in the outer-loop feedback design such that the plant states are stabilised for given reference trajectories, while an additional robust controller is designed in the inner loop to increase the adaptability to uncertainties, and reduce the effect of unmodelled high-frequency dynamics on plant dynamics. An appealing feature of the control scheme is the attenuation of chattering. The effectiveness and merits of the new control scheme developed are shown via a verification example of velocity control of a quad-rotor.

KEYWORDS:

• Sliding mode control
• singular perturbations
• trajectory tracking
• robustness
• nonlinear systems

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was partially supported by the National Nature Science Foundation of China (61773131,U1509217), and the Auatralia Research Council (DP170102644).