Adaptive Integral Sliding-Mode Control for UAV Hovering with Conditional Anti-Saturation
- 1Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China
- 2College of Information Science and Engineering, Northeastern University, Shenyang 110819, China
- 3School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, China
Abstract
This paper develops conditional anti-saturation integral sliding-mode control for quadrotor hovering subject to bounded generalized control authority, external disturbances, and model uncertainties. A state-dependent Boolean mechanism conditionally modifies the bounded restoring action according to whether each hovering error is increasing or recovering. For the nominal hovering model, the resulting CAS-ISMC law establishes the integral sliding manifold from the initial instant under ideal initialization and guarantees asymptotic convergence of the hovering errors within a certified positively invariant recovery region, while an explicit gain budget enforces the prescribed componentwise input bounds. For the uncertain model, a projected adaptive extension estimates a structured uncertainty bound with unknown coefficients and known conservative limits. Projection prevents gain drift and yields a computable control-authority condition. Under a verifiable local initialization condition, the adaptive closed-loop signals remain bounded, the sliding variable converges to zero, and the hovering errors converge asymptotically to the origin. The discontinuous closed-loop dynamics is analyzed in the Filippov sense using Lyapunov arguments and weak-invariance analysis for the limiting differential inclusion. Reproducible simulations evaluate damping-gain sensitivity, projected compensation of structured matched uncertainty, and coupled four-channel near-hover regulation.
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BibTeX
@article{xu2026adaptive,
title = {{Adaptive Integral Sliding-Mode Control for UAV Hovering with Conditional Anti-Saturation}},
author = {Lixue Xu and Tongyao Li and Xiubo Wang},
journal = {Mathematics},
year = {2026},
month = oct,
doi = {10.3390/math14203751},
url = {https://www.mdpi.com/2227-7390/14/20/3751},
note = {CC BY 4.0},
}
RIS
TY - JOUR
TI - Adaptive Integral Sliding-Mode Control for UAV Hovering with Conditional Anti-Saturation
AU - Lixue Xu
AU - Tongyao Li
AU - Xiubo Wang
PY - 2026
DA - 2026/10/15
JO - Mathematics
DO - 10.3390/math14203751
UR - https://www.mdpi.com/2227-7390/14/20/3751
AB - This paper develops conditional anti-saturation integral sliding-mode control for quadrotor hovering subject to bounded generalized control authority, external disturbances, and model uncertainties. A state-dependent Boolean mechanism conditionally modifies the bounded restoring action according to whether each hovering error is increasing or recovering. For the nominal hovering model, the resulting CAS-ISMC law establishes the integral sliding manifold from the initial instant under ideal initialization and guarantees asymptotic convergence of the hovering errors within a certified positively invariant recovery region, while an explicit gain budget enforces the prescribed componentwise input bounds. For the uncertain model, a projected adaptive extension estimates a structured uncertainty bound with unknown coefficients and known conservative limits. Projection prevents gain drift and yields a computable control-authority condition. Under a verifiable local initialization condition, the adaptive closed-loop signals remain bounded, the sliding variable converges to zero, and the hovering errors converge asymptotically to the origin. The discontinuous closed-loop dynamics is analyzed in the Filippov sense using Lyapunov arguments and weak-invariance analysis for the limiting differential inclusion. Reproducible simulations evaluate damping-gain sensitivity, projected compensation of structured matched uncertainty, and coupled four-channel near-hover regulation.
SN - 2227-7390
ER -