Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation

Round 1

Reviewer 1 Report

This is a well written paper and all the controller development and implementation is clearly described which will be helpful for future researchers.

There are some small improvements that can be made but the paper is acceptable in its current form too.

1) Title of the paper has a '-' inside the word 'Evolution'. Please correct this.

2) The introduction should end with a brief summary of the upcoming sections and subsections so that the paper becomes easy to navigate and more readable.

3) If possible, please try to share the simulink model of APID implementation publicly to facilitate future research with APID.

 

Author Response

Point 1: Title of the paper has a '-' inside the word 'Evolution'. Please correct this.

Done. Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation

 

Point 2: The introduction should end with a brief summary of the upcoming sections and subsections so that the paper becomes easy to navigate and more readable.

The organization of the manuscript has been added at the end of the introduction as follow:

                The organization of this manuscript is as follows. Section II describes the dynamics model of the parrot mambo MAV quadrotor. Section III shows the design of the APID for position control of the quadrotor. Section IV presents the APID system's simulation and experimental results, and Section V presents the conclusion of the research work.

 

Point 3: If possible, please try to share the simulink model of APID implementation publicly to facilitate future research with APID.

At the moment, the Simulink model is confidential since it is undergoing PhD work and cannot be shared publicly.

 

Author Response File: Author Response.pdf

Reviewer 2 Report

This work proposes an adaptive pid control via sliding mode for position tracking of quadrotor mav. Before being published, this work needs to cope with some concerns as follows:

1) In the Introduction section, please summarize the specific contribution points by comparing with current works. 2) The research difficulties and shortcomings of the paper should be given. 3) Scattered throughout the paper, there are some grammatical errors and typos that should be corrected. 4) In order to better evaluate the control performance of different controllers, some standard performance indicators should be used and the results should be written in a table, such as anti-saturation adaptive finite-time neural network based fault-tolerant tracking control for a quadrotor uav with external disturbances. 5) How to set the parameters of proposed model for better performance? For this problem, it is expected to give in the article. 6) In the introduction section, authors should add some mainstream sliding mode control strategies in recent years such as antisaturation adaptive fixed-time sliding mode controller design to achieve faster convergence rate and its application, adaptive saturated tracking control for spacecraft proximity operations via integral terminal sliding mode technique, to better illustrate the advantages of the sliding mode control proposed in this paper. 7) The layout of the article should be given. 8) Please give the curves about adaption laws. 9) In this study, the attitude system and the position system are both considered, but there is only "position tracking" in the title. Please give specific explanation.

 

Scattered throughout the paper, there are some grammatical errors and typos that should be corrected.

Author Response

Please see the attachment

Author Response File: Author Response.pdf