A novel non-singular terminal sliding mode control combined with integral sliding surface for perturbed quadrotor

In this article, a new dynamic non-singular terminal sliding mode control technique for a quadrotor system subjected to external disturbances is evaluated. The offered control approach is based on non-singular terminal sliding mode controller combined with proportional–integral–derivative sliding su...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2022-05, Vol.236 (5), p.999-1009
Main Authors: Labbadi, Moussa, Djemai, Mohamed, Boubaker, Sahbi
Format: Article
Language:English
Subjects:
Controllers
Disturbances
Mechanical engineering
Performance enhancement
Proportional integral derivative
Sliding mode control
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Summary:In this article, a new dynamic non-singular terminal sliding mode control technique for a quadrotor system subjected to external disturbances is evaluated. The offered control approach is based on non-singular terminal sliding mode controller combined with proportional–integral–derivative sliding surface to improve the performance. The proposed controller is formulated using the Lyapunov theory which ensured the existence of the sliding mode surfaces in finite time. Furthermore, the chattering problem, caused by the switching position and attitude laws, has been reduced using the proposed controller. Moreover, a high-precision performance trajectory tracking can be obtained. The problem of the disturbances is addressed using the suggested controller. Simulation results show the feasibility and efficiency of the non-singular terminal sliding mode control-proportional–integral–derivative proposed approach.
ISSN:0959-6518
2041-3041
DOI:10.1177/09596518211064791