Global Fast Terminal Sliding Mode Control Law Design of a Quadrotor

DOI

10.2991/cnci-19.2019.24How to use a DOI?

Keywords

Quadrotor UAV, Global Fast Terminal SMC, Trajectory Tracking, Lyapunov Method, Adaptive Law

Abstract

The conventional sliding mode control cannot converge to zero in finite time, and it has a feeble robustness because of its linear sliding mode surface with uncertain variable disturbances, in order to solve these problems, this paper presents an adaptive global fast terminal sliding mode control (GFTSMC) based on a quadrotor UAV. Firstly, the mathematical model of quadrotor is given via Euler-Lagrange method. A double closed-loop structure is designed, the GFTSMC laws are formulated in the outer loop controller to track the position signal, and to track the attitude signal in the inner loop controller. To eliminate the chattering, the sign function is replaced by a saturation function. The stability of system is proved by Lyapunov method. Finally, the demonstrative simulation results are shown to embody the superiorities of GFTSMC compared with the classical sliding mode control (CSMC).

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Hwachou Chen
AU  - Haiyun Chen
AU  - Ping Xu
PY  - 2019/05
DA  - 2019/05
TI  - Global Fast Terminal Sliding Mode Control Law Design of a Quadrotor
BT  - Proceedings of the 2019 International Conference on Computer, Network, Communication and Information Systems (CNCI 2019)
PB  - Atlantis Press
SP  - 167
EP  - 179
SN  - 2352-538X
UR  - https://doi.org/10.2991/cnci-19.2019.24
DO  - 10.2991/cnci-19.2019.24
ID  - Chen2019/05
ER  -