Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances
Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances
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DOI：
10.1155/2019/2016416
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发表时间：
2019-08-19
影响因子：
1.4
通讯作者：
Cherkaoui, Mohamed
中科院分区：
文献类型：
--
作者：
Labbadi, Moussa;Cherkaoui, Mohamed
本文的目的是解决四旋翼暴露在外部恒定扰动下的控制问题。四旋翼系统分为姿态子系统和位置子系统两部分。设计了一种新的鲁棒积分终端滑模控制律（RITSMC），用于稳定内环和快速跟踪欧拉角的正确期望值。为了估计z轴上显示的扰动和控制高度位置分系统，提出了一种自适应反演技术，同时采用反演方法控制水平位置分系统。四旋翼子系统的稳定性由李亚普诺夫理论保证。通过在MATLAB/Simulink上进行的各种仿真结果，清楚地了解了所提出方法的有效性，并与另一种技术进行了比较。
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.