Fixed-time controller for altitude/yaw control of mini-drone based on nonsingular terminal sliding mode: Real-time implementation with uncertainties - ESTACA’Lab
Article Dans Une Revue IFAC Journal of Systems and Control Année : 2024

Fixed-time controller for altitude/yaw control of mini-drone based on nonsingular terminal sliding mode: Real-time implementation with uncertainties

Résumé

To obtain fixed-time stability and finite-time convergence of altitude and yaw motions of a mini-quadrotor subjected to perturbations, this paper proposes a new altitude/yaw motion finite-time tracking control. First, a nonsingular terminal sliding manifold is proposed for both subsystems whose states converge to their desired values in finite-time. To address the uncertainties of the system, a robust fixed-time switching controller is proposed whose stability is proposed and its settling-time depends only on control of the parameters and not the initial conditions. The validation of the proposed approach is presented based on a real mini-quadrotor.
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Dates et versions

hal-04671134 , version 1 (13-08-2024)

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Moussa Labbadi, Chakib Chatri, Fouad Khenfri. Fixed-time controller for altitude/yaw control of mini-drone based on nonsingular terminal sliding mode: Real-time implementation with uncertainties. IFAC Journal of Systems and Control, 2024, pp.100278. ⟨10.1016/j.ifacsc.2024.100278⟩. ⟨hal-04671134⟩
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