Non-Singular Backstepping Terminal Sliding Mode Control for Attitude of Quadrotor Under Disturbances
A non-singular backstepping terminal sliding mode attitude controller is designed to solve the problem of rapid conver-gence of quadrotor attitude under disturbance.The error variables in the attitude system converge to the equilibrium point in global finite time under disturbances.The dynamics model of quadrotor was established based on Newton-Euler method.The designed controllers based on the quadrotor system can be divided into two loops.A non-singular backstepping terminal sliding mode con-troller(NBTSMC)based on power exponential time-varying gain approach is designed in the attitude loop to avoid the singularity of traditional terminal sliding mode and make the system state converge in finite time under disturbance.In the simulation,the control effect and error convergence speed of the state under disturbance are significantly improved compared with the BS-SMC.In flight experiments,it also has high attitude performance under disturbances.The robustness of the NBTSM C based on power expo-nential time-varying gain approach is validated by simulation and flight test.
NBTSMCQuadrotorPower Exponential Time-Varying Gain ApproachRobustness
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