Finite Time Sliding Mode Control for Chattering Reduction in Unmanned Aerial Vehicles with Dynamic Payloads

Imran I. H., KURTULUŞ D. F., Kouser T., Memon A. M., Alhems L. M., Goli S.

IEEE Access, vol.13, pp.143196-143209, 2025 (SCI-Expanded, Scopus) identifier identifier

  • Publication Type: Article / Article
  • Volume: 13
  • Publication Date: 2025
  • Doi Number: 10.1109/access.2025.3598131
  • Journal Name: IEEE Access
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Compendex, INSPEC, Directory of Open Access Journals
  • Page Numbers: pp.143196-143209
  • Keywords: chattering, disturbances, dynamic payloads, finite time, parametric uncertainties, sliding mode controller, time-varying, UAV
  • Middle East Technical University Affiliated: Yes

Abstract

This study proposes a finite-time tracking control system for an unmanned aerial vehicle (UAV) in the presence of dynamic payloads and external disturbances. Changes in payload result in time-varying parametric uncertainties, making traditional control strategies ineffective. A sliding mode control (SMC) scheme is designed to handle uncertainties in both translational and rotational dynamics. A finite-time SMC (FTSMC) approach is developed to handle unknown time-varying mass and external disturbances in the translational dynamics. Furthermore, differences in the payload influence the inertia characteristics of the UAV, introducing further uncertainties in the feedback control design. A finite-time sliding mode controller is also implemented for rotational dynamics to guarantee the attitude stabilization under unknown inertia parameter variations. The proposed method has the objective to attenuate the chattering effect associated with traditional SMC within a finite time frame. Theoretical stability analysis with rigorous mathematical proofs is presented to confirm the effectiveness of the control scheme. Numerical simulations are provided to validate its performance under dynamic operating conditions.