USDE-Based Continuous Sliding Mode Control for Quadrotor Attitude Regulation: Method and Application Article Swipe
L Xu
,
Xingling Shao
,
Wendong Zhang
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/access.2021.3076076
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/access.2021.3076076
In this paper, an unknown system dynamics estimator (USDE)-based sliding mode control (SMC) is presented for quadrotor attitude tracking with the aims of conquering control oscillation problem and achieving great robustness. To enhance the anti-disturbance ability of quadrotors, the invariant manifold-based USDE, with features of simple structure and exponential error convergence, as well as low computational consumption, is introduced to recover the unknown disturbances by basic filter operation and algebraic calculation. Aiming at accelerating sluggish transient convergency in conventional disturbance compensation-based SMC, a novel quadrotor attitude SMC strategy containing a continuous double hyperbolical reaching law (DHRL) is designed, which greatly alleviates control oscillations without sacrificing dynamic response. The dramatical advantage of proposed scheme is that the chattering-free property and fast dynamic response with precise static tracking performance are simultaneously achieved. Meanwhile, all the error signals involved in the closed-sloop system are proved to be bounded by Lyapunov analysis. Eventually, the effectiveness of explored control strategy is illustrated through simulations and experiments.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/access.2021.3076076
- https://ieeexplore.ieee.org/ielx7/6287639/9312710/09416710.pdf
- OA Status
- gold
- Cited By
- 24
- References
- 39
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3157046108
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Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3157046108Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/access.2021.3076076Digital Object Identifier
- Title
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USDE-Based Continuous Sliding Mode Control for Quadrotor Attitude Regulation: Method and ApplicationWork title
- Type
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articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2021Year of publication
- Publication date
-
2021-01-01Full publication date if available
- Authors
-
L Xu, Xingling Shao, Wendong ZhangList of authors in order
- Landing page
-
https://doi.org/10.1109/access.2021.3076076Publisher landing page
- PDF URL
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https://ieeexplore.ieee.org/ielx7/6287639/9312710/09416710.pdfDirect link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://ieeexplore.ieee.org/ielx7/6287639/9312710/09416710.pdfDirect OA link when available
- Concepts
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Control theory (sociology), Sliding mode control, Computer science, Mode (computer interface), Attitude control, Control (management), Control engineering, Artificial intelligence, Engineering, Human–computer interaction, Nonlinear system, Physics, Quantum mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
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24Total citation count in OpenAlex
- Citations by year (recent)
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2025: 4, 2024: 5, 2023: 5, 2022: 7, 2021: 3Per-year citation counts (last 5 years)
- References (count)
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39Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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