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Fast Terminal Sliding Mode Controller for a Quadrotor Unmanned Aerial Vehicle

Document Type : Original Article

Authors

1 Dept. Control Engineering Azad Islamic University Damavand

2 - Dept. Control Engineering Malek Ashtar University of Technology Tehran

10.22034/jast.2018.145987

Abstract

This paper presents robust nonlinear control law for a quadrotor UAV using fast terminal sliding mode control. Fast terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Then in reaching phase for removing chattering and producing smooth control signal, continuous approximation idea is used. Simulation results show that the proposed algorithm is robust against parameter uncertainty and has better performance than conventional sliding mode for controlling a quadrotor UAV. 

Keywords

Article Title [Persian]

Fast Terminal Sliding Mode Controller for a Quadrotor Unmanned Aerial Vehicle

Authors [Persian]

  • I. Khabbazi 1
  • Vahid Behnamgol 2

1 Dept. Control Engineering Azad Islamic University Damavand

2 - Dept. Control Engineering Malek Ashtar University of Technology Tehran

Abstract [Persian]

This paper presents robust nonlinear control law for a quadrotor UAV using fast terminal sliding mode control. Fast terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Then in reaching phase for removing chattering and producing smooth control signal, continuous approximation idea is used. Simulation results show that the proposed algorithm is robust against parameter uncertainty and has better performance than conventional sliding mode for controlling a quadrotor UAV. 

Keywords [Persian]

  • quadrotor UAV
  • fast terminal sliding mode - finite time convergence
References
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Journal of Aerospace Science and Technology
Volume 11.1, Issue 1
June 2018
Pages 37-45
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