A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV
This paper proposes a robust algorithm based on a fixed-time sliding mode controller (FTSMC) for a Quadrotor aircraft. This approach is based on Lyapunov theory, which guarantees system stability. Nonlinear error dynamics techniques are used to achieve accurate trajectory tracking in the presence of...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/16/5/229 |
| _version_ | 1797601462256140288 |
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| author | Jairo Olguin-Roque Sergio Salazar Iván González-Hernandez Rogelio Lozano |
| author_facet | Jairo Olguin-Roque Sergio Salazar Iván González-Hernandez Rogelio Lozano |
| author_sort | Jairo Olguin-Roque |
| collection | DOAJ |
| description | This paper proposes a robust algorithm based on a fixed-time sliding mode controller (FTSMC) for a Quadrotor aircraft. This approach is based on Lyapunov theory, which guarantees system stability. Nonlinear error dynamics techniques are used to achieve accurate trajectory tracking in the presence of disturbances. The performance of the FTSMC is compared with the typical non-singular terminal sliding mode controller (NTSMC) to evaluate its effectiveness. The numerical results show that FTSMC is more efficient than the typical NTSMC in disturbance reduction. |
| first_indexed | 2024-03-11T04:01:08Z |
| format | Article |
| id | doaj.art-f3cb624a9dc143688c85010f2ea9a8d8 |
| institution | Directory Open Access Journal |
| issn | 1999-4893 |
| language | English |
| last_indexed | 2024-03-11T04:01:08Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj.art-f3cb624a9dc143688c85010f2ea9a8d82023-11-18T00:08:31ZengMDPI AGAlgorithms1999-48932023-04-0116522910.3390/a16050229A Robust Fixed-Time Sliding Mode Control for Quadrotor UAVJairo Olguin-Roque0Sergio Salazar1Iván González-Hernandez2Rogelio Lozano3UMI-LAFMIA, CINVESTAV, Ciudad de Mexico 07360, MexicoUMI-LAFMIA, CINVESTAV, Ciudad de Mexico 07360, MexicoUMI-LAFMIA, CINVESTAV, Ciudad de Mexico 07360, MexicoUMI-LAFMIA, CINVESTAV, Ciudad de Mexico 07360, MexicoThis paper proposes a robust algorithm based on a fixed-time sliding mode controller (FTSMC) for a Quadrotor aircraft. This approach is based on Lyapunov theory, which guarantees system stability. Nonlinear error dynamics techniques are used to achieve accurate trajectory tracking in the presence of disturbances. The performance of the FTSMC is compared with the typical non-singular terminal sliding mode controller (NTSMC) to evaluate its effectiveness. The numerical results show that FTSMC is more efficient than the typical NTSMC in disturbance reduction.https://www.mdpi.com/1999-4893/16/5/229Quadrotor aircraftFTSMCNTSMCrobust controltrajectory tracking control |
| spellingShingle | Jairo Olguin-Roque Sergio Salazar Iván González-Hernandez Rogelio Lozano A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV Algorithms Quadrotor aircraft FTSMC NTSMC robust control trajectory tracking control |
| title | A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV |
| title_full | A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV |
| title_fullStr | A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV |
| title_full_unstemmed | A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV |
| title_short | A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV |
| title_sort | robust fixed time sliding mode control for quadrotor uav |
| topic | Quadrotor aircraft FTSMC NTSMC robust control trajectory tracking control |
| url | https://www.mdpi.com/1999-4893/16/5/229 |
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