A sliding mode control algorithm based on improved super-twisting and its application to quadrotors

被引：3
|
作者：
Zhao, Jing [1 ,2 ]
Xie, Zuoyu
Xiao, Min
Xu, Fengyu
Gao, Zhifeng
机构：
[1] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing 210023, Peoples R China
[2] Nanjing Univ Posts & Telecommun, Coll Artificial Intelligence, Nanjing 210023, Peoples R China
来源：
JOURNAL OF CONTROL AND DECISION | 2023年 / 10卷 / 03期
关键词：
Quadrotor; super-twisting sliding mode control; trajectory tracking; external disturbances; TRACKING; DESIGN;
D O I：
10.1080/23307706.2022.2094841
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a fast terminal sliding mode control strategy based on improved super-twisting algorithm (IST-FTSMC) for quadrotors with external disturbances. First, the dynamic model of quadrotors is described. Then, a control strategy based on fast terminal sliding mode with improved super-twisting algorithm is proposed for attitude subsystem and position subsystem. Finally, some comparative results show superior tracking performance of the proposed method in this paper under external disturbances.
引用
收藏
页码：433 / 442
页数：10
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