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

doi:10.1109/ICMA52036.2021.9512751

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

Authors

Omar Mechali

Dr Jamshed Iqbal J.Iqbal@hull.ac.uk
Senior Lecturer

Abdesselam Mechali

Xiaomei Xie

Limei Xu

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, August). Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach. Presented at 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021, Takamatsu, Japan

Conference Name	2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
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

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