Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV
In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal slidin...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/14/11/315 |
| _version_ | 1827677666070757376 |
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| author | Yuxiao Niu Hanyu Ban Haichao Zhang Wenquan Gong Fang Yu |
| author_facet | Yuxiao Niu Hanyu Ban Haichao Zhang Wenquan Gong Fang Yu |
| author_sort | Yuxiao Niu |
| collection | DOAJ |
| description | In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal sliding mode variable to estimate external disturbances to the position subsystem. Then, utilizing the information provided by the ESO and the nonsingular terminal sliding mode control (NTSMC) technique, a dynamic surface controller is proposed to achieve finite-time stability of the position subsystem. By conducting a similar step for the attitude subsystem, a finite-time ESO-based dynamic surface controller is proposed to carry out attitude tracking control of the quadrotor UAV. Finally, the performance of the control algorithm is demonstrated via a numerical simulation. |
| first_indexed | 2024-03-10T05:47:09Z |
| format | Article |
| id | doaj.art-7ef0f3d4ad8b4002a5acfebe1353bf7c |
| institution | Directory Open Access Journal |
| issn | 1999-4893 |
| language | English |
| last_indexed | 2024-03-10T05:47:09Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj.art-7ef0f3d4ad8b4002a5acfebe1353bf7c2023-11-22T22:04:46ZengMDPI AGAlgorithms1999-48932021-10-01141131510.3390/a14110315Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAVYuxiao Niu0Hanyu Ban1Haichao Zhang2Wenquan Gong3Fang Yu4Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaInnovation Academy for Microsatellites of CAS, Shanghai 201204, ChinaInstitute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaInstitute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaInstitute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaIn this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal sliding mode variable to estimate external disturbances to the position subsystem. Then, utilizing the information provided by the ESO and the nonsingular terminal sliding mode control (NTSMC) technique, a dynamic surface controller is proposed to achieve finite-time stability of the position subsystem. By conducting a similar step for the attitude subsystem, a finite-time ESO-based dynamic surface controller is proposed to carry out attitude tracking control of the quadrotor UAV. Finally, the performance of the control algorithm is demonstrated via a numerical simulation.https://www.mdpi.com/1999-4893/14/11/315nonsingular terminal sliding mode controlfinite-time stabilityquadrotor UAVdynamic surface control |
| spellingShingle | Yuxiao Niu Hanyu Ban Haichao Zhang Wenquan Gong Fang Yu Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV Algorithms nonsingular terminal sliding mode control finite-time stability quadrotor UAV dynamic surface control |
| title | Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV |
| title_full | Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV |
| title_fullStr | Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV |
| title_full_unstemmed | Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV |
| title_short | Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV |
| title_sort | nonsingular terminal sliding mode based finite time dynamic surface control for a quadrotor uav |
| topic | nonsingular terminal sliding mode control finite-time stability quadrotor UAV dynamic surface control |
| url | https://www.mdpi.com/1999-4893/14/11/315 |
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