Global fast dynamic terminal sliding mode control for a quadrotor UAV

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• 作者：Jing-Jing Xiong ; ^{jjxiong357@gmail.com} ; Guo-Bao Zhang ^{guobaozh@seu.edu.cn}
• 关键词：Quadrotor UAV ; Global fast dynamic TSMC ; Tracking control ; Lyapunov theory
• 刊名：ISA Transactions
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：66
• 期：Complete
• 页码：233-240
• 全文大小：1872 K
• 卷排序：66

文摘

A control method is proposed for a quadrotor UAV. The global fast dynamic terminal sliding mode control technique is used. The technique can ensure the state tracking errors converge to zero in finite time. The proposed control method can eliminate the chattering phenomenon on controller.