An Adaptive Fast Terminal Sliding-Mode Controller With Power Rate Proportional Reaching Law for Quadrotor Position and Altitude Tracking
提出一种自适应快速终端滑模控制器，用于四旋翼在参数不确定和外部扰动下的位置与高度跟踪，通过幂率比例趋近律和自适应增益实现快速有限时间收敛并抑制抖振，仿真和实物验证了有效性。
This article focuses on developing an adaptive fast terminal sliding-mode controller (AFTSMC) with power rate proportional reaching law for the position and altitude tracking of a quadrotor in the presence of parametric uncertainties and bounded external disturbance. A nonlinear fast terminal sliding surface is proposed for the fast and finite-time convergence of the tracking error despite having the system states far away from the equilibrium point. Also, a power rate proportional reaching law has been proposed that ensures fast and finite-time convergence of the sliding manifold while attenuating the chattering phenomena in the sliding phase. To avoid the problem associated with over-estimation of the unknown disturbance bound, which eventually leads to chattering, an adaptive tuning law for gain adaptation is developed based on the Lyapunov’s stability theory that completely eradicates the necessity of knowing the upper bound of the disturbance <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> . The finite-time stability of a closed-loop system is investigated using the Lyapunov theory. The effectiveness of the proposed scheme is compared with an adaptive sliding-mode controller (ASMC) using extensive simulation and validated on the DJI Matrice 100 quadrotor as a proof of concept on the hardware platform.