Adaptive prescribed performance terminal sliding mode attitude control for quadrotor under input saturation

摘要

This study investigates the attitude tracking problem of quadrotor in presence of external disturbances and the constraint of input saturation. An adaptive prescribed performance terminal sliding mode control scheme is proposed. Terminal sliding mode control algorithm guarantees all state variables to converge to their desired value in a short time while prescribed performance function limits the convergence speed, maximum overshoot and steady-state error. Adaptive law is adopted to estimate the unknown upper bound of external disturbances. To further address input saturation problem encountered in practical system, an auxiliary system is designed. Lyapunov stability approach is applied to guarantee the stability of the closed-loop system. Finally, Numerical simulations with non-linear model are presented to demonstrate the effectiveness and superiority of the proposed control scheme.