Robust Fixed-Time Sliding Mode Attitude Control of Tilt Trirotor UAV in Helicopter Mode

• Published in: IEEE transactions on industrial electronics (1982) Vol. 69; no. 10; pp. 10322 - 10332
• Main Authors: Yu, Li, He, Guang, Wang, Xiangke, Zhao, Shulong
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Attitude control; Attitude stability; Control theory; Convergence; Feedback control; fixed-time stability; Helicopter control; Initial conditions; Parameter uncertainty; Robust control; Robustness; Sliding mode control; sliding mode control (SMC); tilt trirotor unmanned aerial vehicle (UAV); Uncertainty; Unmanned aerial vehicles; Upper bound
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2021.3118556

In this article, we address the problem of robust fixed-time attitude stabilization for tilt trirotor unmanned aerial vehicle subjects to parameter uncertainties and external disturbances. First, a novel fixed-time stable system with a faster convergence rate is proposed. Second, a nonsingular fixed-time sliding mode surface is developed, which has better convergence performance than existing methods. Third, a continuous fast fixed-time sliding mode control law is proposed by applying the developed sliding mode surface and adaptive technique. As a result, the convergence time of the closed-loop system is bounded and independent of the initial conditions. Simulation and experiments are presented to verify that the proposed scheme can effectively and rapidly achieve attitude stabilization while maintaining high control precision and robustness.