Multivariable Disturbance Observer-Based Finite-Time Sliding Mode Attitude Control for Fixed-Wing UAVs under Matched and Mismatched Disturbances
- Authors
- Nguyen, Ngo Phong; Oh, Hyondong; Moon, Jun; Kim, Yoonsoo
- Issue Date
- Jun-2023
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Flight control; uncertain systems; variable-structure/sliding-mode control
- Citation
- IEEE Control Systems Letters, v.7, pp 1999 - 2004
- Pages
- 6
- Indexed
- SCOPUS
ESCI
- Journal Title
- IEEE Control Systems Letters
- Volume
- 7
- Start Page
- 1999
- End Page
- 2004
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/193094
- DOI
- 10.1109/LCSYS.2023.3283390
- ISSN
- 2475-1456
2475-1456
- Abstract
- In this letter, we propose a multivariable disturbance observer-based finite-time sliding mode attitude control (MDOB-FT-SM-AC) for fixed-wing UAVs in the presence of both matched and mismatched disturbances. Compared with existing sliding mode attitude controllers, the significant improvements of the proposed MDOB-FT-SM-AC are the multivariable control structure, strong robustness, and high precision performance with continuous control input signal. In the proposed MDOB-FT-SM-AC, we first develop multivariable finite-time disturbance observers such that the precise estimation of both matched and mismatched disturbances is ensured. Next, a nonsingular terminal sliding manifold is designed such that the fixed-wing UAV is driven to track its desired attitude command in finite time. We finally present a multivariable super-twisting reaching law such that the finite-time convergence of the sliding variable and its derivative to zero is guaranteed. Attentive finite-time convergence analysis is derived based on the Lyapunov and homogeneity theories. Simulation results are given to illustrate the superiority of the proposed MDOB-FT-SM-AC.
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