Fig 1.
Alignment of quadcopter reference frames, showing the alignment between body and inertial frames.
Fig 2.
Controller architecture for quadrotor, including position, altitude, and virtual control input designs.
Fig 3.
Diagram of position controller for maintaining quadrotor trajectory along x, y, and z axes.
Fig 4.
Altitude controller diagram for maintaining desired quadrotor altitude.
Fig 5.
Flowchart of PSO algorithm used for tuning quadrotor sliding surface parameters.
Table 1.
Plant parameter [40].
Table 2.
Design parameter for ASTSMC.
Table 3.
Design parameter of adaptation law.
Table 4.
Design parameter for PSO SMC.
Fig 6.
Comparison of roll angle tracking performance between the proposed controller and other controllers.
Fig 7.
Pitch angle tracking performance, highlighting the tracking response of the proposed controller compared to other controllers.
Fig 8.
Yaw angle tracking performance comparison, showing similar tracking performance.
Fig 9.
Altitude tracking performance: The proposed adaptive controller shows minimal deviation.
Table 5.
ITAE table for tracking performance for t = 15 seconds.
Fig 10.
Roll angle performance under disturbances, demonstrating the high disturbance rejection of the proposed controller.
Fig 11.
Pitch angle performance, highlighting high disturbance rejection and minimal steady state error of proposed controller.
Fig 12.
Yaw angle performance under disturbances, highlighting the minimal oscillation of the proposed controller.
Fig 13.
Altitude performance under disturbances, showcasing the high disturbance rejection of the proposed controller.
Fig 14.
Control effort U1 for altitude control, demonstrating efficient use of control inputs.
Fig 15.
Control effort U2 for roll motion control, showing minimal and smooth control by the proposed controller.
Fig 16.
Control effort U3 for pitch control, showing minimal and smooth effort by the proposed controller.
Fig 17.
Control effort U4 for yaw control, highlighting minimal effort by the proposed controller.
Table 6.
Results of control performance.