Gong, Wenquan (Shanghai Maritime University), LI, Bo (Shanghai Maritime University), Xiong, Hang (Shanghai maritime university), Yang, Yongsheng (Shanghai Maritime University), Bing, Xiao (School of Automation, Northwestern Polytechnical University)

Observer Based Appointed-Finite-Time Nonsingular Sliding Mode Based Disturbance Attenuation Control for Quadrotor UAV

Scheduled for presentation during the Regular Session "Airspace Control" (FrA4), Friday, September 4, 2020, 10:00−10:20, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This work investigates the appointed-finite-time trajectory tracking control problem for quadrotor unmanned aerial vehicles subject to external disturbances. More specifically, two nonsingular terminal sliding mode manifolds are first designed such that the singularity problem of the traditional sliding mode control is settled. And that, the appointed-finite-time stability of the proposed manifolds is proved by rigorous Lyapunov theory. Furthermore, two novel sliding mode control based appointed-finite-time controllers are developed to realize the trajectory tracking objective. The undesired chattering is alleviated by discontinuous control structure. Finally, numerical simulation results are presented to illustrate that the quadrotor can successfully accomplish the tracking task by utilizing the proposed controllers.