A Novel Fixed-Time Sliding Mode Control of Quadrotor With Experiments and Comparisons

被引:27
作者
Yu, Li [1 ]
He, Guang [1 ]
Wang, Xiangke [1 ]
Shen, Lincheng [1 ]
机构
[1] Natl Univ Def Technol, Coll Intelligence Sci & Technol, Changsha 410073, Peoples R China
来源
IEEE CONTROL SYSTEMS LETTERS | 2022年 / 6卷
关键词
Convergence; Sliding mode control; Attitude control; Upper bound; Uncertainty; Robustness; Asymptotic stability; fixed-time convergence; attitude control; ATTITUDE; DESIGN;
D O I
10.1109/LCSYS.2021.3086389
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this letter, a practical fixed-time sliding mode controller is designed for quadrotors. A novel fixed-time stable system is derived, which has a faster convergence rate than existing methods. The proof of the fixed-time convergence is presented. Meanwhile, the faster convergence rate compared with the other two methods is detailed using simulations. Based on this derivation, a fixed-time sliding mode controller with bounded convergence time independent of initial conditions is developed. The comparative simulation and flight experiment results are presented, showing that the proposed control scheme is practical to an actual quadrotor and can achieve good control performance.
引用
收藏
页码:770 / 775
页数:6
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