Attitude control for QTR using exponential nonsingular terminal sliding mode control

doi:10.21629/JSEE.2019.01.18

Journal of Systems Engineering and Electronics ›› 2019, Vol. 30 ›› Issue (1): 191-200.doi: 10.21629/JSEE.2019.01.18

• Control Theory and Application • Previous Articles Next Articles

Attitude control for QTR using exponential nonsingular terminal sliding mode control

Haibo LIU^1,*(), Heping WANG^1,²(), Junlei SUN¹()

¹ College of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China
² Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, China

Received:2017-07-03 Online:2019-02-27 Published:2019-02-27
Contact: Haibo LIU E-mail:13782800@qq.com;wangheping@nwpu.edu.cn;610187496@qq.com
About author:LIU Haibo was born in 1981. He received his B.S. degree from Nanjing University of Technology in 2005 and M.S. degree from Lanzhou University of Technology in 2013. He is currently working toward his Ph.D. degree in Northwestern Polytechnical University. His main research interests include advanced flight control and overall design of flight vehicle. E-mail:13782800@qq.com|WANG Heping was born in 1955. He received his B.S., M.S. and Ph.D. degrees from Northwestern Polytechnical University in 1982, 1986 and 1999. His main research interests include flight control and overall design of flight vehicle. E-mail:wangheping@nwpu.edu.cn|SUN Junlei was born in 1984. He received his B.S. degree from Northwestern Polytechnical University in 2007 and M.S. degree from Civil Aviation University of China in 2011. He is currently working toward his Ph.D. degree in Northwestern Polytechnical University. His main research interests include flight control and overall design of flight vehicle. E-mail:610187496@qq.com
Supported by:
the National Natural Science Foundation of China(11202162);This work was supported by the National Natural Science Foundation of China (11202162)

Abstract

Abstract:

For the problem of attitude control of a quad tilt rotor aircraft with unknown external disturbances, a class of control methods based on a new exponential fast nonsingular terminal sliding surface, a new fast reaching law, and a super twisting sliding mode disturbance observer is investigated. First, the new exponential nonsingular terminal sliding surface is designed by using the advantages of nonsingular terminal sliding mode finite time convergence and strong robustness. Second, to solve the problem of a long convergence time and the serious shaking of the traditional reaching law, a new fast reaching law model with characteristics of the second-order sliding mode is put forward. Third, considering the existence of complex disturbances, the super twisting sliding mode disturbance observer is used to estimate and compensate the composite disturbances online. Finally, compared with the traditional nonsingular fast sliding mode control, simulation results show that the proposed control scheme achieves a good control performance.

Key words: tilt rotor, exponential, sliding mode control, reaching law, super twisting

Haibo LIU, Heping WANG, Junlei SUN. Attitude control for QTR using exponential nonsingular terminal sliding mode control[J]. Journal of Systems Engineering and Electronics, 2019, 30(1): 191-200.

Figures/Tables 6

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References 35

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Attitude control for QTR using exponential nonsingular terminal sliding mode control

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