Conditioned adaptive barrier-based double integral super twisting SMC for trajectory tracking of a quadcopter and hardware in loop using IGWO algorithm

Researchers working in the field of unmanned aerial vehicles are observing rapid developments in the field, such as the use of quadrotors to grasp, manipulate, and transport objects. These advancements are made possible through sophisticated control systems, new types of actuation and sensing technologies, and a greater understanding of the aerodynamic effects and gyroscopic moment generated by the rotating blades of the quadrotor involved. Therefore, this research work proposes four novel optimized control laws, i.e., conditioned adaptive barrier-based double integral super twisting sliding mode controller (CABDIST-SMC), BF double integral SMC (BF-DISMC), BF integral SMC, and barrier function-based SMC control laws, for attitude, heading, position, and altitude trajectory tracking of the quadcopter. The non-linear model of the quadcopter is developed using the Lagrange formalism in MATLAB ODE-45 environment, including the gyroscopic moments and aerodynamic effects, and a Lyapunov stability analysis is performed to ensure the asymptotic stability of the system. A 3D-helical complex trajectory is employed to analyze the performance and consistency of the proposed optimized controllers. For performance comparison, the proposed four variants of the SMC are compared with three traditional control strategies, i.e., backstepping SMC, optimized adaptive SMC via particle swarm optimization algorithm, and improved adaptive SMC. These traditional control strategies have also been developed and tested in MATLAB-Simulink. All the controllers are optimized using the improved grey wolf optimization algorithm, and to determine the best control law, six performance indexes, i.e., mean absolute percentage error (MAPE), root mean square error (RMSE), integral square error (ISE), integral absolute error (IAE), integral time absolute error (ITAE), and integral time square error (ITSE) are used. A hardware-in-loop (HIL) test is also performed to validate the performance of the designed novel control law. The C2000 Delfino MCU F28379D launchpad is used for performing the HIL validation test. The simulated results showed that the performance of optimized CABDIST-SMC surpassed all other control laws for altitude, heading, position, and attitude trajectory tracking. It has achieved MAPE of 0.02%, RMSE of 3.9912e-5, ISE of 3.1859e-8, IAE of 7.9823e-4, ITAE of 0.0080, and ITSE of 3.1849e-7 in case of yaw angle control. The proposed control laws have successfully passed the HIL validation test, and real-time implementation of the proposed control laws indicates no significant variations compared to the simulated results.