SLIDING MODE CONTROL OF UNMANNED AERIAL VEHICLE BASED FINITE-TIME DISTURBANCE OBSERVER

Abstract

Abstract Because of the advantages of high maneuverability, vertical takeoff and landing, free hovering, and easy portability, quadrotor UAVs have become one of the research hotspots in recent years. Aiming at the finite-time trajectory tracking control problem for quadrotor under unknown environmental disturbance and modeling uncertainty, a fast terminal sliding mode control method using a finite-time disturbance observer is proposed. First, the modeling uncertainty and unknown external disturbance of the quadrotor were combined into lumped disturbance, and a finite-time disturbance observer was designed to estimate the lumped disturbance online. Secondly, a fast terminal sliding mode controller was constructed for the realization of a finite-time tracking control of the quadrotor, and the estimated value of the limited-time disturbance observer was compensated to the controller. Thereby, the influence of compound disturbance was eliminated, the quadrotor can achieve a finite-time trajectory, and the disturbance suppression capability of tracking control was improved. Finally, we conducted simulation experiments and confirmed that the control strategy proposed in this paper is effective.