Sliding Mode Controller for Quadcopter UAVs: A Comprehensive Survey
Asifa Yesmin, Arpita Sinha
Abstract
This paper provides a comprehensive investigation of nonlinear robust control methodologies, with a specific emphasis on the development of sliding mode controllers (SMCs) for quadcopter unmanned aerial vehicles (UAVs). Quadcopters are highly interconnected and underactuated and, thus, pose challenges in controlling them, especially in the presence of disturbances like wind. SMC is a widely employed approach that proves practical for managing the intricate nonlinear dynamics of UAVs with substantial coupling. The principal merit of SMC lies in its remarkable capability to reject external perturbations and uncertainties. This paper offers an extensive survey on robust control design techniques, specifically focusing on SMC design for quadcopter UAVs. This paper also delves into different SMC design approaches, such as classical SMC, super-twisting SMC (ST-SMC), terminal SMC(TSMC), adaptive SMC, backstepping SMC, event-triggered SMC, and neural network-based SMCs for quadcopters. This paper provides a detailed study of the different SMC designs to achieve various objectives for the UAV in the presence of uncertainties and disturbances. Simulations of the various SMCs are presented that demonstrate the comparative performance of the UAVs for different objectives. Finally, this article serves as an information foundation that covers various aspects of the SMC design for quadcopters.