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.


    Access

    Download


    Export, share and cite



    Title :

    Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV


    Contributors:


    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Supertwisting sliding mode controller for fast EV charging

    KHALID MUHAMMAD / ZEB KAMRAN | European Patent Office | 2024

    Free access

    Longitudinal Controller for Hand Launched MAV Based on Supertwisting Algorithm

    Balajiwale, Shweta / Arya, Hemendra / Joshi, Ashok | AIAA | 2017


    An Adaptive Sliding Mode Controller for Quadrotor UAV

    James, Binoj / Bindu, G. R. | Springer Verlag | 2023


    Adaptive Sliding Mode Controller Design with Disturbance for Quadrotor*

    Wang, Xian / Zhao, Jing / Xie, Fei et al. | IEEE | 2018


    Path Tracking Control of Fixed-Wing Unmanned Aerial Vehicle Based on Modified Supertwisting Algorithm

    Chenbo Zhao / Luji Guo / Qichen Yan et al. | DOAJ | 2024

    Free access