Adaptive Predefined-Time Attitude Tracking Control for Quadrotor Using a Novel Terminal Sliding Mode Approach  

作　　者：Tianshuo Ge Tengshuo Dong Baihai Zhang Fenxi Yao 

机构地区：[1]School of Automation,Beijing Institute of Technology,Beijing 100081,China

出　　处：《Journal of Beijing Institute of Technology》2024年第6期530-546,共17页北京理工大学学报（英文版）

摘　　要：This paper proposes an adaptive predefined-time terminal sliding mode control(APTSMC)scheme for attitude tracking control of a quadrotor.To create this,an adaptive predefined-time stability controller based on a terminal sliding mode is constructed.The upper bound of convergence time in the proposed scheme can be adjusted by the explicit parameters during the design process of the controller.In addition,it is proved that the attitude tracking error will converge within two periods of the preset time.These two periods are set between two ranges:From the initial values to the sliding mode surface and from the sliding mode surface to the region near the origin.Furthermore,an adaptive law is adopted to eliminate unknown external disturbances and the effects of the uncertainties in the quadrotor model,so it is unnecessary to require the prior knowledge of the upper bound of the perturbations.Simulation results are produced and comparative case studies are carried out to demonstrate that the proposed scheme has faster convergence speed and smaller tracking errors.

关 键 词：predefined-time QUADROTOR attitude tracking control adaptive terminal sliding mode 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程] V249.1[航空宇航科学与技术—飞行器设计]