Fixed-time sliding mode flight control with model-based switching functions of quadrotor unmanned aerial vehicles. (8th April 2022)

• Record Type: Journal Article
• Authors: Fallaha, Charles; Kali, Yassine; Saad, Maarouf; Ghommam, Jawhar
• Is Part Of: International journal of automation and control. Volume 16:Number 3/4(2022)
• Page Start: 371
• Page End: 387
• Publication Date: 2022-04-08
• Subjects: sliding mode control -- SMC -- model-based switching functions -- fixed-time sliding mode -- quadrotor -- unmanned aerial vehicle -- UAV; Automation -- Periodicals; Control theory -- Periodicals; Automatic control -- Periodicals; Robots -- Periodicals; Bionics -- Periodicals; Intelligent control systems -- Periodicals
• Languages: English
• ISSNs: 1740-7516

Abstract

This paper proposes the design of a new sliding mode controller of the attitude fast inner-loop of a drone quadrotor type system. The controller uses the novel model-based switching functions approach, which leads to important simplifications of the pitch, roll and yaw torques control inputs fed to the quadrotor. The model-based switching functions approach forces as well a complete chattering decoupling of these three torque inputs and enhances the robustness of the closed-loop system. The proposed approach is combined with the fixed-time sliding mode approach, and is experimentally implemented and successfully validated on a quadrotor system.