Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties

作者：Mofid, Omid; Mobayen, Saleh^*

来源：ISA Transactions, 2018, 72: 1-14.

DOI：10.1016/j.isatra.2017.11.010

• Unmanned aerial vehicle systems
• Finite-time convergence
• Sliding mode control
• Parametric uncertainties
• Adaptive tuning

Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.

• 出版日期2018-1