TY - GEN
T1 - Integral Sliding Mode Control of Quadrotor Attitude Tracking based on Adding Power Integrator Technique
AU - Zhang, Haichao
AU - Xiao, Bing
AU - Wu, Xiwei
AU - Sun, Xiaoqin
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The attitude tracking control problem of a quadrotor in the presence of the parametric uncertainty and external disturbance is studied. Firstly, the adding power integrator technique is employed to design a finite-time nominal controller for the attitude tracking control system. On this basis, an integral sliding mode surface is developed. The system state can converge to zero within finite time along the sliding surface when the ideal sliding motion is established. Combining the adaptive control technique and sliding mode control theory, an adaptive finite-time sliding mode control scheme is presented. It can drive the tracking errors converge to a small region containing zero. The finite-time stability of the attitude control system can be proved by the Lyapunov method strictly. Finally, a simulation example is conducted to verify the attitude tracking controller's effectiveness.
AB - The attitude tracking control problem of a quadrotor in the presence of the parametric uncertainty and external disturbance is studied. Firstly, the adding power integrator technique is employed to design a finite-time nominal controller for the attitude tracking control system. On this basis, an integral sliding mode surface is developed. The system state can converge to zero within finite time along the sliding surface when the ideal sliding motion is established. Combining the adaptive control technique and sliding mode control theory, an adaptive finite-time sliding mode control scheme is presented. It can drive the tracking errors converge to a small region containing zero. The finite-time stability of the attitude control system can be proved by the Lyapunov method strictly. Finally, a simulation example is conducted to verify the attitude tracking controller's effectiveness.
KW - Adding power integrator
KW - Finite-time stability
KW - Integral sliding mode control
KW - Quadrotor attitude tracking
KW - Uncertainty and disturbance
UR - https://www.scopus.com/pages/publications/85181811299
U2 - 10.1109/CCDC58219.2023.10326784
DO - 10.1109/CCDC58219.2023.10326784
M3 - 会议稿件
AN - SCOPUS:85181811299
T3 - Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
SP - 2636
EP - 2641
BT - Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 35th Chinese Control and Decision Conference, CCDC 2023
Y2 - 20 May 2023 through 22 May 2023
ER -