Disturbance observer based control of quadrotors with SLFN

This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.

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