Free-chattering Sliding Mode Control for Quadrotors

The design of a finite-time robust control for quadrotors is a challenging issue nowadays. This paper investigates the attitude control relating to quadrotor dynamics in the exposure of impacts of the external disturbances such as wind and noise and inertia uncertainty. A finite-time converged attitude based on an observer and adaptive sliding mode control is proposed in this research. The adaptive theory is exerted to estimate parameters of inertia; similarly, angular velocity and external disturbances are estimated by a new observer. As one of the purposes, this work concentrates on having a free-chattering control system to reduce the depreciation and loss of energy. The cooperation of both estimators and potent sliding mode surface causes the control process to compensate for negative effects. Also, Lyapunov’s theory is applied to prove finite-time stability.

کلیدواژه ها:

Robotics Control ، Free-chattering Sliding Mode ، Adaptive and Observer Algorithm