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Summary

This study presents a novel control strategy for quadrotor systems, enhancing tracking control in disturbed environments. The method ensures accurate position estimation and robust disturbance rejection for improved performance.

Keywords:
Anti-disturbance rejection controlMulti-layer neural networkQuadrotor systemState uncertainty and disturbanceSuper-twisting nonsingular terminal sliding mode control

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Artificial Intelligence

Background:

  • Quadrotor systems face challenges in maintaining stable flight and accurate trajectory tracking, especially in environments with external disturbances and uncertain states.
  • Existing control methods often struggle with fast-tracking requirements and effective disturbance rejection simultaneously.

Purpose of the Study:

  • To develop and validate a novel control strategy for fast-tracking control of quadrotor systems in perturbed environments with uncertain states.
  • To enhance the robustness and accuracy of quadrotor tracking control through adaptive and intelligent control techniques.

Main Methods:

  • A two-phase control strategy integrating adaptive super-twisting nonsingular terminal sliding mode control (AST-NTSMC) with a multi-layer neural network (MLNN).
  • Phase 1: MLNN for unknown quadrotor position estimation.
  • Phase 2: AST-NTSMC for fast-tracking control and external disturbance rejection, with stability analysis via Lyapunov theory.

Main Results:

  • Accurate quadrotor position estimation using the MLNN.
  • Rapid convergence of the AST-NTSMC surface, ensuring fast-tracking control.
  • Effective rejection of external disturbances and chatter-free control performance.
  • Adaptive estimation of uncertain disturbance bounds.

Conclusions:

  • The proposed integrated control strategy significantly enhances quadrotor tracking performance in challenging environments.
  • The combination of MLNN and AST-NTSMC offers a robust and effective solution for fast-tracking control and disturbance rejection.
  • Extensive simulations and hardware-in-the-loop tests validate the superiority and effectiveness of the proposed control technique.