Name
Title | ||
|---|---|---|
Barrier Function Adaptive Nonsingular Terminal Sliding Mode Control Approach for Quad-Rotor Unmanned Aerial Vehicles |
Abstract | ||
|---|---|---|
This paper proposes a barrier function adaptive non-singular terminal sliding mode controller for a six-degrees-of-freedom (6DoF) quad-rotor in the existence of matched disturbances. For this reason, a linear sliding surface according to the tracking error dynamics is proposed for the convergence of tracking errors to origin. Afterward, a novel non-singular terminal sliding surface is suggested to guarantee the finite-time reachability of the linear sliding surface to origin. Moreover, for the rejection of the matched disturbances that enter into the quad-rotor system, an adaptive control law based on barrier function is recommended to approximate the matched disturbances at any moment. The barrier function-based control technique has two valuable properties. First, this function forces the error dynamics to converge on a region near the origin in a finite time. Secondly, it can remove the increase in the adaptive gain because of the matched disturbances. Lastly, simulation results are given to demonstrate the validation of this technique. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.3390/s22030909 | SENSORS |
Keywords | DocType | Volume |
quad-rotor system, barrier function technique, adaptive law, non-singular terminal sliding mode, matched disturbance | Journal | 22 |
Issue | ISSN | Citations |
3 | 1424-8220 | 0 |
PageRank | References | Authors |
0.34 | 0 | 7 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Khalid Alattas | 1 | 2 | 2.38 |
| Omid Mofid | 2 | 0 | 0.34 |
| Abdullah K Alanazi | 3 | 0 | 0.34 |
| Hala M Abo-Dief | 4 | 0 | 0.34 |
| Andrzej Bartoszewicz | 5 | 0 | 0.34 |
| Mohsen Bakouri | 6 | 0 | 0.34 |
| Saleh Mobayen | 7 | 0 | 0.34 |