Transactions of Nanjing University of Aeronautics & Astronautics
Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor
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Abstract:
Given external disturbances and system uncertainties， a nonsingular fast terminal sliding mode control （NFTSMC） method integrated a nonlinear disturbance observer （NDO） is put forward for quadrotor aircraft. First， a NDO is proposed to estimate the actual values of uncertainties and disturbances. Second， the NFTSM controller based on the reaching law is designed for the attitude subsystem （inner loop）， and the control strategy can ensure Euler angles’ fast convergence and stability of the attitude subsystem. Moreover， the NFTSMC strategy combined with backstepping is proposed for the position subsystem （outer loop）， which can ensure subsystem tracking performance. Finally， comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control （SMC） and the SM integral backstepping control under uncertainties and disturbances.
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Project Supported:
This work was supported by the National Natural Science Foundation of China （No.52175100）； the Natural Science Foundation of Jiangsu Province （No.BK20201379）； the 2020 Industrial Transformation and Upgrading Project of Industry and Information Technology Department of Jiangsu Province（No.JITC-2000AX0676-71）； the Natural Science Foundation of Nanjing University of Posts and Telecommunications（No.NY221076）； and the Scientific and Technological Achievements Transformation Project of Jiangsu Province （No.BA2020004）.
Clc Number:
TP273
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