A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV
Jairo Olguin-Roque, Sergio Salazar, I. González-Hernández, Rogelio Lozano
Abstract
This paper proposes a robust algorithm based on a fixed-time sliding mode controller (FTSMC) for a Quadrotor aircraft. This approach is based on Lyapunov theory, which guarantees system stability. Nonlinear error dynamics techniques are used to achieve accurate trajectory tracking in the presence of disturbances. The performance of the FTSMC is compared with the typical non-singular terminal sliding mode controller (NTSMC) to evaluate its effectiveness. The numerical results show that FTSMC is more efficient than the typical NTSMC in disturbance reduction.
Topics & Concepts
Control theory (sociology)Sliding mode controlController (irrigation)TrajectoryNonlinear systemComputer scienceMode (computer interface)Lyapunov stabilityTerminal sliding modeLyapunov functionTracking (education)Robust controlStability (learning theory)Reduction (mathematics)Robustness (evolution)MathematicsControl (management)Artificial intelligencePhysicsOperating systemBiologyQuantum mechanicsPsychologyMachine learningGenePedagogyChemistryBiochemistryAgronomyAstronomyGeometryAdaptive Control of Nonlinear SystemsAdaptive Dynamic Programming ControlDistributed Control Multi-Agent Systems