Trajectory tracking control of UAV based on non-singular fixed-time terminal sliding mode
作者单位：School of Automation Beijing Institute of Technology
会议名称：《第40届中国控制会议》
会议日期：2021年
学科分类：08[工学] 082503[工学-航空宇航制造工程] 0835[工学-软件工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 080201[工学-机械制造及其自动化]
关 键 词：UAV terminal sliding mode non-singular fixed time
摘 要：A improved non-singular fixed-time terminal sliding mode controller（INFTSMC） is proposed in this paper to speed up the response during UAV trajectory tracking. Based on a kind of fixed-time convergence system with variable parameters and shorter convergence time, a new sliding mode surface and INFTSMC are designed to drive the system’s state converge in a fixed time, and the settling time’s upper bound is better than the existing results. Simultaneously, a switching saturation function is used in the controller to avoid singularity. The Lyapunov stability theory proves that the designed controller can realize the stable tracking of the UAV. The simulation results verify the performance of the INFTSMC given in this paper.