Robust flight control for a quadrotor under external disturbances based on predefined-time terminal sliding mode manifold. (May 2023)

• Record Type: Journal Article
• Authors: Labbadi, Moussa; Elyaalaoui, Kamal; Dabachi, Mohamed Amine; Lakrit, Soufian; Djemai, Mohamed; Cherkaoui, Mohamed
• Is Part Of: Journal of vibration and control. Volume 29:Number 9/10(2023)
• Page Start: 2064
• Page End: 2076
• Publication Date: 2023-05
• Subjects: predefined-time stability -- TSMC -- predefined-time terminal sliding mode -- external disturbances -- Lyapunov theorem; Vibration -- Periodicals; Damping (Mechanics) -- Periodicals; 620.3
• DOI: 10.1177/10775463221074098
• Languages: English
• ISSNs: 1077-5463

Abstract

This paper investigates the terminal sliding-mode control (TSMC) with predefined-time stability (PTS) for a disturbed quadrotor system (DQS). First, for both the rotational and translational subsystems of the DQS, a novel notion of predefined-time terminal sliding-mode manifold (PTTSMM) is created. Using the proposed PTTSMM method, the DQS state variables reach their origin in a predefined-time. The influence of disturbances is taken into consideration in the design of the suggested control to show its performance. A formal analysis technique is also provided, as well as the stability of the closed-loop DQS. The performance and effectiveness of the predefined-time method proposed in this work are illustrated by numerical simulations and also comparison study with other control techniques is presented.