Non-singular Terminal Sliding Mode Control of Unmanned Aerial Vehicles Based on Variable Exponential Disturbance Observer
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.
quadcopter dronevariable index controlterminal sliding mode controldisturbance observerfinite time control
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维普
