Abstract

In this paper, a nonlinear extended state observer (NESO)-based model-free non-singular fast terminal sliding mode control (NESO-TSMC) is developed for trajectory tracking control and attitude control of a quadrotor UAV which is flying under wind and other external disturbances. In the proposed NESO-TSMC, the NESO is designed to provide the estimations of system states, lumped uncertainties and external disturbances of the system. With the designed NESO, a NESO-TSMC is proposed, such that tracking error converges to zero in a finite time. Finally, to present the performance of the proposed NESO-TSMC, numerical simulation results have been obtained and compared with results of PD, iPD, SM, MFSM controls.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.