Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances
Joint Authors
Labbadi, Moussa
Cherkaoui, Mohamed
Source
International Journal of Aerospace Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-08-19
Country of Publication
Egypt
No. of Pages
10
Abstract EN
The purpose of this paper is to solve the problem of controlling of the quadrotor exposed to external constant disturbances.
The quadrotor system is partitioned into two parts: the attitude subsystem and the position subsystem.
A new robust integral terminal sliding mode control law (RITSMC) is designed for stabilizing the inner loop and the quick tracking of the right desired values of the Euler angles.
To estimate the disturbance displayed on the z-axis and to control the altitude position subsystem, an adaptive backstepping technique is proposed, while the horizontal position subsystem is controlled using the backstepping approach.
The stability of the quadrotor subsystems is guaranteed by the Lyapunov theory.
The effectiveness of the proposed methods is clearly comprehended through the obtained results of the various simulations effectuated on MATLAB/Simulink, and a comparison with another technique is presented.
American Psychological Association (APA)
Labbadi, Moussa& Cherkaoui, Mohamed. 2019. Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1156173
Modern Language Association (MLA)
Labbadi, Moussa& Cherkaoui, Mohamed. Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-10.
https://search.emarefa.net/detail/BIM-1156173
American Medical Association (AMA)
Labbadi, Moussa& Cherkaoui, Mohamed. Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1156173
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1156173