A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV

被引：8

作者：

Olguin-Roque, Jairo ^{[1
]}

Salazar, Sergio ^{[1
]}

Gonzalez-Hernandez, Ivan ^{[1
]}

Lozano, Rogelio ^{[1
]}

机构：

[1] CINVESTAV, UMI LAFMIA, Mexico City 07360, Mexico

来源：

ALGORITHMS | 2023年 / 16卷 / 05期

关键词：

Quadrotor aircraft; FTSMC; NTSMC; robust control; trajectory tracking control; OPERATIONS; SEARCH; RESCUE;

D O I：

10.3390/a16050229

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页数：15

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