Multivariable finite-time composite control strategy based on immersion and invariance for quadrotor under mismatched disturbances
Aerospace Science and Technology(2020)
摘要
A novel multivariable finite-time composite integral sliding mode control algorithm with disturbance observer is investigated for a quadrotor unmanned aerial vehicle in the presence of mismatched and matched disturbances. A finite-time disturbance observer based on a multivariable supertwisting algorithm is designed as a stepping stone to estimate and cancel directly the mismatched and matched disturbances simultaneously. A composite adaptive law based on immersion and invariance theory, which introduces supervision factors and dynamic scaling factors, is proposed to compensate for the inaccuracy of modeling and the uncertainty of system parameters. Moreover, a novel integral sliding mode controller with a supertwisting term is designed by combining the composite adaptive law and the disturbance observer. The finite-time tracking of the time-varying trajectory is proven via Lyapunov-based stability analysis. Comparative simulation results illustrate the effectiveness and superiority of the proposed strategy.
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关键词
Mismatched disturbance,Finite time control,Immersion and invariance,Sliding mode control,Dynamic scaling factor,Supervision factor
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