Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding Mode.
PLoS One
; 18(4): e0283195, 2023.
Article
en En
| MEDLINE
| ID: mdl-37093830
This paper presents a finite-time approach for tracking control of a quadrotor system subjected to external disturbances and model uncertainties. The proposed approach offers a preassigned performance guarantee. Firstly, integral terminal sliding manifolds and nonsingular terminal sliding manifolds are considered to produce the new hyperplane sliding variables for both position and attitude of a quadrotor. The designed hyperplane sliding variables guaranteed a finite-time convergence. The objective is to develop a finite-time control scheme for a disturbed quadrotor to follow a predefined trajectory based on a nonlinear sliding mode controller. The main contribution of this paper is to design a hyperplane-based nonlinear sliding mode control strategy for a quadrotor subjected to disturbances. A concept of robust controllers for a quadrotor is presented based on Lyapunov theory, which proves finite-time stability of the proposed control technique. Numerical simulations with two different scenarios verify the accuracy of the proposed hyperplane-based sliding mode control approach. The simulations study also included a comparison with another nonlinear controller. Results demonstrated overperformance of the proposed control strategy.
Texto completo:
1
Colección:
01-internacional
Base de datos:
MEDLINE
Tipo de estudio:
Prognostic_studies
Idioma:
En
Revista:
PLoS One
Asunto de la revista:
CIENCIA
/
MEDICINA
Año:
2023
Tipo del documento:
Article
País de afiliación:
Francia
Pais de publicación:
Estados Unidos