This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.
Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV
2020
Article (Journal)
Electronic Resource
Unknown
Metadata by DOAJ is licensed under CC BY-SA 1.0
Supertwisting sliding mode controller for fast EV charging
European Patent Office | 2024
|An Adaptive Sliding Mode Controller for Quadrotor UAV
Springer Verlag | 2023
|DOAJ | 2024
|