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...

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Auteurs principaux:	Yuxiao Niu, Hanyu Ban, Haichao Zhang, Wenquan Gong, Fang Yu
Format:	article
Langue:	EN
Publié:	MDPI AG 2021
Sujets:	nonsingular terminal sliding mode control finite-time stability quadrotor UAV dynamic surface control Industrial engineering. Management engineering T55.4-60.8 Electronic computers. Computer science QA75.5-76.95
Accès en ligne:	https://doaj.org/article/7ef0f3d4ad8b4002a5acfebe1353bf7c
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spelling	oai:doaj.org-article:7ef0f3d4ad8b4002a5acfebe1353bf7c2021-11-25T16:13:06ZNonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV10.3390/a141103151999-4893https://doaj.org/article/7ef0f3d4ad8b4002a5acfebe1353bf7c2021-10-01T00:00:00Zhttps://www.mdpi.com/1999-4893/14/11/315https://doaj.org/toc/1999-4893In 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.Yuxiao NiuHanyu BanHaichao ZhangWenquan GongFang YuMDPI AGarticlenonsingular terminal sliding mode controlfinite-time stabilityquadrotor UAVdynamic surface controlIndustrial engineering. Management engineeringT55.4-60.8Electronic computers. Computer scienceQA75.5-76.95ENAlgorithms, Vol 14, Iss 315, p 315 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	nonsingular terminal sliding mode control finite-time stability quadrotor UAV dynamic surface control Industrial engineering. Management engineering T55.4-60.8 Electronic computers. Computer science QA75.5-76.95
spellingShingle	nonsingular terminal sliding mode control finite-time stability quadrotor UAV dynamic surface control Industrial engineering. Management engineering T55.4-60.8 Electronic computers. Computer science QA75.5-76.95 Yuxiao Niu Hanyu Ban Haichao Zhang Wenquan Gong Fang Yu Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV
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.
format	article
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
title	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_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_sort	nonsingular terminal sliding mode based finite-time dynamic surface control for a quadrotor uav
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/7ef0f3d4ad8b4002a5acfebe1353bf7c
work_keys_str_mv	AT yuxiaoniu nonsingularterminalslidingmodebasedfinitetimedynamicsurfacecontrolforaquadrotoruav AT hanyuban nonsingularterminalslidingmodebasedfinitetimedynamicsurfacecontrolforaquadrotoruav AT haichaozhang nonsingularterminalslidingmodebasedfinitetimedynamicsurfacecontrolforaquadrotoruav AT wenquangong nonsingularterminalslidingmodebasedfinitetimedynamicsurfacecontrolforaquadrotoruav AT fangyu nonsingularterminalslidingmodebasedfinitetimedynamicsurfacecontrolforaquadrotoruav
_version_	1718413265382408192

Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

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