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Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor 被引量:1
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作者 ZHAO Jing WANG Peng +2 位作者 SUN Yanfei XU Fengyu XIE Fei 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第2期219-230,共12页
Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is ... Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is proposed to estimate the actual values of uncertainties and disturbances.Second,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude subsystem.Moreover,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking performance.Finally,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances. 展开更多
关键词 quadrotor aircraft nonlinear disturbance observer(NDO) nonsingular fast terminal sliding mode control(NFTSMC) disturbances
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Terminal Sliding Mode Fuzzy Control Based on Multiple Sliding Surfaces for Nonlinear Ship Autopilot Systems 被引量:2
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作者 袁雷 吴汉松 《Journal of Marine Science and Application》 2010年第4期425-430,共6页
A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the p... A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the problem, the controller was designed by employing the universal approximation property of fuzzy logic system, the advantage of Nussbaum function, and using multiple sliding mode control algorithm based on the recursive technique. In the last step of designing, a nonsingular terminal sliding mode was utilized to drive the last state of the system to converge in a finite period of time, and high-order sliding mode control law was designed to eliminate the chattering and make the system robust. The simulation results showed that the controller designed here could track a desired course fast and accurately. It also exhibited strong robustness peculiarly to system, and had better adaptive ability than traditional PID control algorithms. 展开更多
关键词 ship course control unmatched uncertainty multiple sliding mode control nonsingular terminal sliding mode control ROBUSTNESS
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