Robust flight control for a quadrotor under external disturbances based on predefined-time terminal sliding mode manifold

Autor:	Moussa Labbadi, Kamal Elyaalaoui, Mohamed Amine Dabachi, Soufian Lakrit, Mohamed Djemai, Mohamed Cherkaoui
Rok vydání:	2022
Předmět:	Mechanics of Materials Mechanical Engineering Automotive Engineering Aerospace Engineering General Materials Science
Zdroj:	Journal of Vibration and Control. 29:2064-2076
ISSN:	1741-2986 1077-5463
Popis:	This paper investigates the terminal sliding-mode control (TSMC) with predefined-time stability (PTS) for a disturbed quadrotor system (DQS). First, for both the rotational and translational subsystems of the DQS, a novel notion of predefined-time terminal sliding-mode manifold (PTTSMM) is created. Using the proposed PTTSMM method, the DQS state variables reach their origin in a predefined-time. The influence of disturbances is taken into consideration in the design of the suggested control to show its performance. A formal analysis technique is also provided, as well as the stability of the closed-loop DQS. The performance and effectiveness of the predefined-time method proposed in this work are illustrated by numerical simulations and also comparison study with other control techniques is presented.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::cfcc611f842f132ba217436026274fa4 https://doi.org/10.1177/10775463221074098 Zobrazit plný text záznamu