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Article Dans Une Revue PLoS ONE Année : 2023

Robust Tracking Control for a Quadrotor Subjected to Disturbances Using New Hyperplane-based Fast Terminal Sliding Mode

Résumé

This paper presents a finite-time approach for tracking control of a quadrotor system subjected to external disturbances and model uncertainties. The proposed approach offers a preassigned performance guarantee. Firstly, integral terminal sliding manifolds and nonsingular terminal sliding manifolds are considered to produce the new hyperplane sliding variables for both position and attitude of a quadrotor. The designed hyperplane sliding variables guaranteed a finite-time convergence. The objective is to develop a finite-time control scheme for a disturbed quadrotor to follow a predefined trajectory based on a nonlinear sliding mode controller. The main contribution of this paper is to design a hyperplane-based nonlinear sliding mode control strategy for a quadrotor subjected to disturbances. A concept of robust controllers for a quadrotor is presented based on Lyapunov theory, which proves finite-time stability of the proposed control technique. Numerical simulations with two different scenarios verify the accuracy of the proposed hyperplane-based sliding mode control approach. The simulations study also included a comparison with another nonlinear controller. Results demonstrated overperformance of the proposed control strategy.
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Dates et versions

hal-04068232 , version 1 (13-04-2023)

Identifiants

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Moussa Labbadi, Jamshed Iqbal, Mohamed Djemai, Mohamed Djemai, Yassine Boukal, et al.. Robust Tracking Control for a Quadrotor Subjected to Disturbances Using New Hyperplane-based Fast Terminal Sliding Mode. PLoS ONE, 2023, 18 (4), pp.e0283195. ⟨10.1371/journal.pone.0283195⟩. ⟨hal-04068232⟩
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