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首页> 外文期刊>International Journal of Control, Automation, and Systems >Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV
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Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV

机译：电谐波UAV的有限时间自适应积分BackStepping快速终端滑模控制应用

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摘要

This paper presents a reliable and novel quadrotor flight control system designed to enhance trajectory tracking performance, robustness and adaptiveness against the uncertain parameters and the external wind disturbance. By combining a recursive control methodology with a robust control algorithm, a finite-time adaptive integral backstepping fast terminal sliding mode control is designed for major control loops related to position tracking and attitude stabilization. To estimate quadrotor mass and inertia moments, only four adaptation laws are developed. To compensate the unknown upper bound on the disturbances, a robust and adaptive switching gain is designed. The designed controller guarantees that all the closed signals are semi-global practical finite-time stability while the tracking error converges to a small neighborhood of the origin. The obtained numerical results and comparison studies show the effectiveness, robustness, adaptiveness and energy efficiency of the proposed flight control system.
机译：本文介绍了一种可靠的新型四轮机飞行控制系统，旨在提高轨迹跟踪性能，鲁棒性和适应性，对不确定的参数和外部风扰动。通过将递归控制方法与鲁棒控制算法组合，设计了有限时间自适应积分BackStepping快速终端滑动模式控制，用于与位置跟踪和姿态稳定相关的主要控制回路。为了估算四轮压力镜质量和惯性矩，仅开发了四种适应法。为了补偿干扰的未知上限，设计了稳健和自适应的开关增益。设计的控制器保证所有闭合信号都是半全局实际有限时间稳定性，而跟踪误差会收敛到原点的小邻居。获得的数值结果和比较研究表明了所提出的飞行控制系统的有效性，鲁棒性，适应性和能效。

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