Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV
نویسندگان
چکیده
In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject external disturbances and parameter uncertainties. Firstly, extended state observer (ESO) proposed based on the nonsingular terminal sliding mode variable estimate position subsystem. Then, utilizing information provided by ESO (NTSMC) technique, dynamic surface controller By conducting similar step for attitude subsystem, ESO-based carry out UAV. Finally, performance algorithm demonstrated via numerical simulation.
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ژورنال
عنوان ژورنال: Algorithms
سال: 2021
ISSN: ['1999-4893']
DOI: https://doi.org/10.3390/a14110315