Fixed-time sliding mode flight control with model-based switching functions of quadrotor unmanned aerial vehicles

被引:0
作者
Fallaha, Charles [1 ]
Kali, Yassine [1 ]
Saad, Maarouf [1 ]
Ghommam, Jawhar [2 ]
机构
[1] Ecole Technol Super, Dept Elect Engn, Montreal, PQ H3C 1K3, Canada
[2] Sultan Quaboos Univ, Dept Elect & Comp Engn, Muscat 123, Oman
关键词
sliding mode control; SMC; model-based switching functions; fixed-time sliding mode; quadrotor; unmanned aerial vehicle; UAV; VARIABLE-STRUCTURE CONTROL; ATTITUDE TRACKING; WIND TURBINE; DESIGN; SYSTEMS; ORDER;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper proposes the design of a new sliding mode controller of the attitude fast inner-loop of a drone quadrotor type system. The controller uses the novel model-based switching functions approach, which leads to important simplifications of the pitch, roll and yaw torques control inputs fed to the quadrotor. The model-based switching functions approach forces as well a complete chattering decoupling of these three torque inputs and enhances the robustness of the closed-loop system. The proposed approach is combined with the fixed-time sliding mode approach, and is experimentally implemented and successfully validated on a quadrotor system.
引用
收藏
页码:371 / 387
页数:17
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