Addressing the tracking issues of a quadcopter UAV system under interference,as well as the disturbances in the attitude subsystem and the chattering defects during sliding mode control,we propose a convergence rate sliding mode con-troller with a variable exponential convergence disturbance observer tailored for the disturbed attitude subsystem,based on a continuous fast non-singular terminal sliding mode control algorithm.Firstly,to address the issue of speed in traditional sliding mode control,a variable exponential convergence disturbance observer is adopted to compensate for and predict disturbances.Then,using the estimated information of attitude tracking error rate of change,a fast non-singular terminal sliding surface is constructed.This enhances the convergence rate of trajectory tracking errors,and the Lyapunov analysis method confirms their convergence within a finite time.The simulation results validate the effectiveness of this approach.Designing a controller for a quadcopter UAV system using sliding mode control and its improved methods.
关键词
四旋翼无人机/变指数控制/终端滑模控制/干扰观测器/有限时间控制
Key words
quadcopter drone/variable index control/terminal sliding mode control/disturbance observer/finite time control
维普
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