A Fuzzy Neural Network Approach to Adaptive Robust Nonsingular Sliding Mode Control for Predefined-Time Tracking of a Quadrotor
Yongjun He, Lin Xiao, Zidong Wang, Qiuyue Zuo, Linju Li
Abstract
In this article, a novel adaptive robust predefined-time nonsingular sliding mode control (ARPTNSMC) scheme is investigated, which aims to achieve fast and accurate tracking control of a quadrotor subjected to external disturbance. Inspiration is drawn from a fuzzy neural network that is constructed by fuzzy logic and zeroing neural network (ZNN). Distinct from most sliding mode control approaches, two nonsingular sliding mode surfaces are formulated by employing general ZNN approaches and differentiable predefined-time activation functions. Furthermore, for the compensation of external disturbance, a dynamic adaptive parameter and a fuzzy adaptive parameter are designed in the attitude control law. The fuzzy adaptive parameter, generated by the Takagi–Sugeno fuzzy logic system, is incorporated to enhance the robustness while reducing the chattering phenomena resulting from the discontinuous sign function. Theoretical proofs are provided to demonstrate the predefined-time convergence and robustness of the closed-loop system. Finally, two trajectory tracking examples are offered to validate the convergence, robustness, and low-chattering characteristics of the closed-loop system under the developed ARPTNSMC scheme.