Robust flight control for a quadrotor under external disturbances based on predefined-time terminal sliding mode manifold

This paper investigates the terminal sliding-mode control (TSMC) with predefined-time stability (PTS) for a disturbed quadrotor system (DQS). First, for both the rotational and translational subsystems of the DQS, a novel notion of predefined-time terminal sliding-mode manifold (PTTSMM) is created....

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Bibliographic Details
Published in:Journal of vibration and control 2023-05, Vol.29 (9-10), p.2064-2076
Main Authors: Labbadi, Moussa, Elyaalaoui, Kamal, Dabachi, Mohamed Amine, Lakrit, Soufian, Djemai, Mohamed, Cherkaoui, Mohamed
Format: Article
Language:English
Subjects:
Closed loops
Disturbances
Engineering Sciences
Flight control
Flight control systems
Manifolds
Robust control
Sliding mode control
Stability analysis
Subsystems
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Summary:This paper investigates the terminal sliding-mode control (TSMC) with predefined-time stability (PTS) for a disturbed quadrotor system (DQS). First, for both the rotational and translational subsystems of the DQS, a novel notion of predefined-time terminal sliding-mode manifold (PTTSMM) is created. Using the proposed PTTSMM method, the DQS state variables reach their origin in a predefined-time. The influence of disturbances is taken into consideration in the design of the suggested control to show its performance. A formal analysis technique is also provided, as well as the stability of the closed-loop DQS. The performance and effectiveness of the predefined-time method proposed in this work are illustrated by numerical simulations and also comparison study with other control techniques is presented.
ISSN:1077-5463
1741-2986
DOI:10.1177/10775463221074098