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Disturbance observer-based nonsingular fixed-time sliding mode tracking control for a quadcopter

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Abstract

This paper proposes a fixed-time method for the tracking control of a quadcopter subject to external disturbances. Compared with finite-time tracking control, the proposed control strategy ensures that the upper bound of the convergence time is independent of the initial state of the system. To determine the external disturbances, we have designed a fixed-time disturbance observer (FTDO). This allows the external disturbances to be compensated precisely, as a result of which the robustness of the control algorithm is enhanced, and the chattering problem is alleviated. We also propose a novel nonsingular fixed-time sliding mode control (FTSMC) technique to provide fixed-time position and attitude tracking control for the quadcopter, which enables a more accurate determination of the convergence time. We validated the fixed-time convergence of the proposed quadcopter tracking control method using Lyapunov stability theory. Finally, we verified the theoretical results not only by simulations but also by experiments.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China (Grant Nos. 61973133, 61673303, 61633011, 61976099).

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Authors and Affiliations

  1. School of Artificial Intelligence and Automation, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Techology, Wuhan, 430074, China

    Xing Cheng, Zhi-Wei Liu & Zhi-Hong Guan

  2. School of Automation, Southeast University, Nanjing, 211189, China

    Huazhou Hou

Authors
  1. Xing Cheng
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  2. Zhi-Wei Liu
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  3. Huazhou Hou
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  4. Zhi-Hong Guan
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Correspondence to Zhi-Wei Liu.

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Cheng, X., Liu, ZW., Hou, H. et al. Disturbance observer-based nonsingular fixed-time sliding mode tracking control for a quadcopter. Sci. China Inf. Sci. 65, 192202 (2022). https://doi.org/10.1007/s11432-020-3153-x

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  • DOI: https://doi.org/10.1007/s11432-020-3153-x

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