Finite-time integral fast terminal sliding mode control for uncertain quadrotor UAV based on state-dependent Riccati equation observer subjected to disturbances
Hamid Ghadiri, Hamed Khodadadi, Gozar Ali Hazareh
Abstract
This paper presents a new control approach of trajectory tracking for quadrotor unmanned aerial vehicle (UAV) systems under external disturbances and parameter uncertainties. The integral fast terminal sliding mode control (IFTSMC) approach applying state-dependent Riccati equation (SDRE) observer is presented for this purpose. As a result, the nonlinear SDRE observer is designed to estimate the non-measurable states. Afterward, employing the estimated states of the SDRE observer, the proposed IFTSMC controller is designed for trajectory tracking of the perturbed quadrotor UAV. Besides, applying Lyapunov’s stability theory, the finite-time convergence and robustness of the closed-loop UAV system are assured. Based on the numerical simulation results, the proposed controller successfully tracked various reference trajectories of quadrotor UAVs despite external disturbances and parametric uncertainty.