Finite-Time Terminal Sliding Mode Tracking Control of a VTOL UAV via the Generalized NDOB
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-29
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
In this paper, we propose a finite-time sliding mode trajectory tracking control methodology for the vertical takeoff and landing unmanned aerial vehicle (VTOL UAV).
Firstly, a system error model of trajectory tracking task is established based on Rodrigues parameters by considering both external and internal uncertainties.
According to the cascade property, the system model is divided into translational and rotational subsystems, and a hierarchical control structure is hence proposed.
Then, a finite-time generalized nonlinear disturbance observer (NDOB) is proposed, based on which the finite-time convergence result of equivalent disturbance estimation can be acquired.
Finally, by introducing a tan-type compensator into the traditional terminal sliding mode control (SMC), the finite-time convergence result of the closed-loop control system is acquired based on Lyapunov stability analysis.
Simulation results show the effectiveness of the proposed methodology.
American Psychological Association (APA)
Wang, Lu& Cheng, Jianhua. 2020. Finite-Time Terminal Sliding Mode Tracking Control of a VTOL UAV via the Generalized NDOB. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1195309
Modern Language Association (MLA)
Wang, Lu& Cheng, Jianhua. Finite-Time Terminal Sliding Mode Tracking Control of a VTOL UAV via the Generalized NDOB. Mathematical Problems in Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1195309
American Medical Association (AMA)
Wang, Lu& Cheng, Jianhua. Finite-Time Terminal Sliding Mode Tracking Control of a VTOL UAV via the Generalized NDOB. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1195309
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195309