In this article, an adaptive fast terminal sliding mode (FTSM) control methodology is constructed for quadrotor UAV with windy disturbances. The proposed control algorithm combines the advantages of adaptive control with fast terminal sliding mode control. The fast terminal sliding mode (FTSM) control algorithm increases the speed of convergence to the desired point. In addition, it guarantees the system reaches a steady state at a finite time. The Lyapunov function ensure that the system is asymptotic globally stable. In addition, the adaptive law reduces the chattering about the sliding mode control and increases the robustness of the closed-loop system. Simulation results present that this strategy have better robustness and faster transient response than the traditional sliding mode control method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive fast terminal sliding mode (FTSM) control design for quadrotor UAV under external windy disturbances*


    Beteiligte:
    Shi, Xiaoyu (Autor:in) / Cheng, Yuhua (Autor:in)


    Erscheinungsdatum :

    2020-09-01


    Format / Umfang :

    261457 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch