Adaptive Recursive Sliding Mode Control (ARSMC)-Based UAV Control for Future Smart Cities

Abstract

The rapid expansion of the Internet and communication technologies is leading to significant changes in both society and the economy. This development is driving the evolution of smart cities, which utilize cutting-edge technologies and data analysis to optimize efficiency and reduce waste in their infrastructure and services. As the number of mobile devices and embedded computers grows, new technologies, such as fifth-generation (5G) cellular broadband networks and the Internet of Things (IoT), are emerging to extend wireless network connectivity. These cities are often referred to as unmanned aerial vehicles (UAVs), highlighting their innovative approach to utilizing technology. To address the challenges posed by continuously varying perturbations, such as unknown states, gyroscopic disturbance torque, and parametric uncertainties, an adaptive recursive sliding mode control (ARSMC) has been developed. The high computational cost and high-order nonlinear behavior of UAVs make them difficult to control. The controller design is divided into two steps. First, a confined stability analysis is performed using controllability and observability to estimate the system’s stability calculation. Second, a Lyapunov-based controller design analysis is systematically tackled using a recursive design procedure. The strategy design aims to enhance robustness through Lyapunov stability-based mathematical analysis in the presence of considered perturbations. The ARSMC introduces new variables that depend on state variables, controlling parameters, and stabilizing functions to minimize unwanted signals and compensate for nonlinearities in the system. The paper’s significant contribution is to improve the controlled output’s rise time and stability time while ensuring efficient robustness.