Fast Terminal Sliding Mode Controller for a Quadrotor Unmanned Aerial Vehicle
Publish Year: 1397
Type: Journal paper
Language: English
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Document National Code:
JR_JASTI-11-1_006
Index date: 30 July 2023
Fast Terminal Sliding Mode Controller for a Quadrotor Unmanned Aerial Vehicle abstract
This paper presents robust nonlinear control law for a quadrotor UAV using fast terminal sliding mode control. Fast terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Then in reaching phase for removing chattering and producing smooth control signal, continuous approximation idea is used. Simulation results show that the proposed algorithm is robust against parameter uncertainty and has better performance than conventional sliding mode for controlling a quadrotor UAV.
Fast Terminal Sliding Mode Controller for a Quadrotor Unmanned Aerial Vehicle Keywords:
Quadrotor UAV , fast terminal sliding mode - finite time convergence
Fast Terminal Sliding Mode Controller for a Quadrotor Unmanned Aerial Vehicle authors
I. Khabbazi
Dept. Control Engineering Azad Islamic University Damavand
Vahid Behnamgol
- Dept. Control Engineering Malek Ashtar University of Technology Tehran
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