终端滑动模式
反推
控制理论(社会学)
终端(电信)
整体滑动模态
模式(计算机接口)
计算机科学
控制工程
滑模控制
控制(管理)
姿态控制
鲁棒控制
工程类
末制导
非线性系统
控制系统
自适应控制
航空航天工程
物理
人工智能
电气工程
操作系统
电信
量子力学
导弹
作者
Hamid Hassani,Azadeh Mansouri,Ali Ahaitouf
标识
DOI:10.1177/10775463241240641
摘要
This paper concerns the problem of robust attitude control of a quadrotor aircraft subjected to modeling inaccuracies and wind disturbances. First, the model dynamics and state space representation of the quadrotor system are designed by considering the impact of disturbances and uncertainties. Then, a novel robust backstepping non-singular integral terminal sliding mode control (BNITSMC) is synthesized for the quadrotor attitude with the aim of enhancing the tracking accuracy. To strengthen the system’s robustness and guarantee the reachability of the sliding surface while reducing chattering, the supertwisting algorithm (ST) is used. Closed-loop stability and state convergence are guaranteed via the Lyapunov theory. Some experimental flight tests have been executed to validate the workability of the developed flight control. The obtained results prove that the recommended technique can provide improved performance in terms of stabilization and tracking precision.
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