Fast sliding mode tracking control of micro quadrotor UAV

Due to simplify the analysis of control system and have better performance of system, a fully actuated subsystem and an under-actuated subsystem are adopted for the quadrotor UAV model. Firstly, for the fully actuated subsystem, a controller based on fast Terminal Sliding Mode Control (FTSMC) is designed. The relevant states converge to their desired values in a short time. So the state variables can be viewed as time invariants in the under-actuated subsystem, which further makes the under-actuated subsystem simplified. Secondly, a controller for the under-actuated subsystem is designed using Integral Sliding Mode Control (ISMC) method which guarantees any given initial state is on the integral sliding mode surface. From simulation results, it is seen that the state variables of system converge to their desired values in a short time with the proposed controller. Moreover, the under-actuated subsystem can reject the external disturbance, which verifies the effectiveness of the proposed design method.

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