Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach

Mechali, Omar; Iqbal, Jamshed; Mechali, Abdesselam; Xie, Xiaomei; Xu, Limei

Abstract

This research addresses the problem of robust attitude control for a quadrotor operating in an environment polluted with lumped disturbances. A new continuous terminal sliding mode-based active anti-disturbance control (CTSMBAADC) is proposed by innovatively introducing a finite-time disturbance observer (FTDO) in homogeneous continuous nonsingular terminal sliding mode control (HCNTSMC) law. The HCNTSMC scheme drives the states of the system to the reference setpoint in finite-time. Rigorous stability analysis of the feedback loop system is based on input-to-state stability (ISS) concept and more importantly Lyapunov theory. Real-time experiments are performed to validate the designed control law. Results witness that the proposed control structure offers superior performance in terms of robustness and accuracy while avoiding the singularity problem and significantly alleviating the chattering phenomenon.

Citation

Mechali, O., Iqbal, J., Mechali, A., Xie, X., & Xu, L. (2021). Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach. In IEEE International Conference on Mechatronics and Automation, ICMA 2021 (1170-1175). https://doi.org/10.1109/ICMA52036.2021.9512751

• Conference Name: 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
• Conference Location: Takamatsu, Japan
• Start Date: Aug 8, 2021
• End Date: Aug 11, 2021
• Acceptance Date: Jun 1, 2021
• Publication Date: Aug 8, 2021
• Deposit Date: Sep 15, 2021
• Publicly Available Date: Aug 9, 2023
• Publisher: Institute of Electrical and Electronics Engineers
• Pages: 1170-1175
• Book Title: IEEE International Conference on Mechatronics and Automation, ICMA 2021
• ISBN: 9781665441001
• DOI: https://doi.org/10.1109/ICMA52036.2021.9512751
• Public URL: https://hull-repository.worktribe.com/output/3839913