Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor; [基于非线性干扰观测器的四旋翼非奇异快速终端滑模控制]

被引：0
|
作者：
Zhao J. [1 ,2 ]
Wang P. [1 ,2 ]
Sun Y. [1 ,2 ]
Xu F. [1 ,2 ]
Xie F. [3 ,4 ]
机构：
[1] College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing
[2] Jiangsu Engineering Lab for IOT Intelligent Robots, Nanjing University of Posts and Telecommunications, Nanjing
[3] School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing
[4] Nanjing Zhongke Raycham Laser Technology Co., Ltd., Nanjing
来源：
Transactions of Nanjing University of Aeronautics and Astronautics | 2022年 / 39卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Disturbances; Nonlinear disturbance observer (NDO); Nonsingular fast terminal sliding mode control (NFTSMC); Quadrotor aircraft;
D O I：
10.16356/j.1005-1120.2022.02.008
中图分类号：
学科分类号：
摘要：
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. © 2022, Editorial Department of Transactions of NUAA. All right reserved.
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页码：219 / 230
页数：11
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