A sliding mode control algorithm based on improved super-twisting and its application to quadrotors  

作　　者：Jing Zhao Zuoyu Xie Min Xiao Fengyu Xu Zhifeng Gao 

机构地区：[1]College of Automation and College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing,People’s Republic of China

出　　处：《Journal of Control and Decision》2023年第3期433-442,共10页控制与决策学报（英文）

基　　金：National Nature Science Foundation of China(62073172,52175100);Natural Science Foundation of Nanjing University of Posts and Telecommunications(NY221076);Jiangsu Province333 High-level Talents Training Project(3-16-343).

摘　　要：This paper presents a fast terminal sliding mode control strategy based on improved supertwistingalgorithm (IST-FTSMC) for quadrotors with external disturbances. First, the dynamicmodel of quadrotors is described. Then, a control strategy based on fast terminal sliding modewith improved super-twisting algorithm is proposed for attitude subsystem and position subsystem.Finally, some comparative results show superior tracking performance of the proposedmethod in this paper under external disturbances.

关 键 词：QUADROTOR super-twisting sliding mode control trajectory tracking external disturbances 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]