Finite-Time Terminal Sliding Mode Tracking Control of a VTOL UAV via the Generalized NDOB

Lu Wang and Jianhua Cheng

Mathematical Problems in Engineering, 2020, vol. 2020, 1-13

Abstract:

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.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2020/4651475.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2020/4651475.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:4651475

DOI: 10.1155/2020/4651475

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().