A Second-Order Sliding Mode Controller Tuning Employing Particle Swarm Optimization

Abstract

The intention of this research is to provide tuning for the coefficients of the switching sliding manifold for the second-order sliding mode employing Particle Swarm Optimization. This research was carried out in noisy conditions with a homemade prototype apparatus employing cheap componentry. A Teensy development board was used as flight controller for a quadcopter, with the second-order sliding mode controller being used for attitude stabilization. Other research has offered confirmation for the control law in both theory and simulation where they identify the nonlinear coefficients based on Hurwitz stability analysis and linearization around equilibrium point. But in this research, we shall be focusing upon identification of the coefficients for the switching siding manifold of the second-order siding employing Particle Swarm Optimization, the obtained coefficient validated both practically and experimentally; this has never previously been undertaken. New data samples will also be provided regarding the short time execution for the physical system; this data will prove useful for future applications using artificial intelligence. The outcomes of the research demonstrate that the proposed tuning method for second order sliding mode controller confirm its robustness and effectiveness both in simulation and experiment.