Adaptive super-twisting non-singular terminal sliding mode control for tracking of quadrotor with bounded disturbances

被引：0
|
作者：
Ghadiri, Hamid [1 ]
Emami, Maedeh [1 ]
Khodadadi, Hamed [2 ]
机构：
[1] Islamic Azad Univ, Fac Elect Biomed & Mechatron Engn, Qazvin Branch, Qazvin, Iran
[2] Islamic Azad Univ, Dept Elect Engn, Khomeinishahr Branch, Esfahan, Iran
来源：
AEROSPACE SCIENCE AND TECHNOLOGY | 2021年 / 112卷
关键词：
Unmanned aerial vehicle's system; Quadrotor; Super-twisting sliding mode control; Non-singular terminal sliding mode control; Adaptive super-twisting non-singular; terminal sliding mode control; ATTITUDE-CONTROL; DESIGN; UAV;
D O I：
10.1016/j.ast.2021.106616
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
In this research, a novel adaptive non-singular terminal sliding mode control (ANTSMC) is proposed for finite-time attitude and altitude tracking of aircraft system considering the bounded disturbances. By utilizing this structure, the desired reference is tracked in finite-time. Afterward, a new adaptive super-twisting sliding mode control (ASTSMC) is presented to decrease the control signals' chattering effect. This approach combines with the ANTSMC to compose this study's proposed approach as adaptive super-twisting non-singular terminal sliding mode control (ASTNTSMC). Additionally, an adaptive-regulation strategy is designed for estimating the unknown bounds of the disturbances. Finally, for evaluating the proposed strategies' ability, some simulations are performed based on quadrotor real parameters and confirmed the presented controllers' appropriate performances compared to other techniques. (C) 2021 Elsevier Masson SAS. All rights reserved.
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页数：12
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