Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding...

Area of Science:

• Robotics
• Control Systems Engineering
• Aerospace Engineering

Background:

• Quadrotor systems are susceptible to external disturbances and model uncertainties, impacting their trajectory tracking capabilities.
• Existing control methods may not provide guaranteed performance or finite-time convergence under such conditions.

Purpose of the Study:

• To develop a finite-time tracking control scheme for quadrotors subjected to disturbances and uncertainties.
• To design a robust nonlinear sliding mode controller based on a novel hyperplane approach.

Main Methods:

• Utilizing integral terminal sliding manifolds and nonsingular terminal sliding manifolds to create hyperplane sliding variables.
• Designing a nonlinear sliding mode controller incorporating these hyperplane variables for position and attitude control.
• Employing Lyapunov theory to prove the finite-time stability and robustness of the proposed control technique.

Main Results:

• The proposed hyperplane-based sliding mode control strategy ensures finite-time convergence for quadrotor trajectory tracking.
• Numerical simulations demonstrated the accuracy and superior performance of the developed controller compared to another nonlinear controller.
• The control approach offers a preassigned performance guarantee even under external disturbances and model uncertainties.

Conclusions:

• The developed hyperplane-based nonlinear sliding mode control is effective for disturbed quadrotor systems.
• The finite-time stability and robustness are rigorously proven using Lyapunov theory.
• The proposed strategy significantly enhances quadrotor tracking performance in challenging environments.