Global Fast Terminal Sliding Mode Control for a Quadrotor UAV

被引：0
|
作者：
Li, Yurong [1 ]
Qin, Yi [1 ]
Wang, Fujie [1 ]
Guo, Fang [1 ]
Yeow, John T. W. [1 ,2 ]
机构：
[1] Dongguan Univ Technol, Sch Elect Engn & Intelligentizat, Dongguan, Peoples R China
[2] Univ Waterloo, Syst Design Engn, Waterloo, ON, Canada
来源：
PROCEEDINGS OF THE 15TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2020) | 2020年
关键词：
global fast terminal; sliding mode; quadrotor UAV; robustness; timeliness; TRACKING CONTROL; CONTROL DESIGN; ATTITUDE; POSITION;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A control method based on global fast terminal sliding mode control (GFTSMC) technique is proposed to track desired trajectories of a quadrotor UAV. By taking into account the high-order nonholonomic constraints to control the six degrees of freedom system with four inputs. The whole system control can be divided into position control unit and attitude control unit, adopt GFTSMC to achieve reference position and attitude. And because of the characteristic of GFTSMC, the robustness and timeliness of the convergence process of the quadrotor system can be guaranteed.
引用
收藏
页码：1820 / 1825
页数：6
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