Robust flight control for a quadrotor under external disturbances based on predefined-time terminal sliding mode manifold - Archive ouverte HAL
Article Dans Une Revue Journal of Vibration and Control Année : 2022

Robust flight control for a quadrotor under external disturbances based on predefined-time terminal sliding mode manifold

Résumé

This paper investigates the terminal sliding-mode control (TSMC) with predefined-time stability (PTS) for a disturbed quadrotor system (DQS). First, for both the rotational and translational subsystems of the DQS, a novel notion of predefined-time terminal sliding-mode manifold (PTTSMM) is created. Using the proposed PTTSMM method, the DQS state variables reach their origin in a predefined-time. The influence of disturbances is taken into consideration in the design of the suggested control to show its performance. A formal analysis technique is also provided, as well as the stability of the closed-loop DQS. The performance and effectiveness of the predefined-time method proposed in this work are illustrated by numerical simulations and also comparison study with other control techniques is presented.
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Dates et versions

hal-03809808 , version 1 (10-10-2022)

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Citer

Moussa Labbadi, Kamal Elyaalaoui, Mohamed Amine Dabachi, Soufian Lakrit, Mohamed Djemai, et al.. Robust flight control for a quadrotor under external disturbances based on predefined-time terminal sliding mode manifold. Journal of Vibration and Control, 2022, pp.107754632210740. ⟨10.1177/10775463221074098⟩. ⟨hal-03809808⟩
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