UAV guaranteed performance anti-saturation fast super-twisting sliding mode attitude tracking control

Chang Zhang, Jiang Wang*, Shipeng Fan, Yan Chen

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

This paper investigates a prescribed performance anti-saturation fast super-twisting sliding mode control strategy based on a disturbance observer to address the attitude tracking problem of fixed-wing unmanned aerial vehicles. A fast finite-time disturbance observer is employed to estimate unknown lumped disturbances, and an auxiliary system is introduced to compensate for actuator saturation. To improve the transient and steady-state responses of the system, a tubular performance function with a narrow feasible domain is proposed that effectively suppresses overshoot and allows the setting of convergence time. Based on this performance function, a fast super-twisting sliding mode control algorithm is designed, which ensures the smooth, high-precision, and chatter-free tracking of the target attitude. Theoretical analysis confirms the fast finite-time convergence property of the system; comparative simulations validate the superiority of the proposed method.

Original languageEnglish
Article number109192
JournalNonlinear Dynamics
DOIs
Publication statusAccepted/In press - 2025

Keywords

  • Disturbance observer
  • Input saturation
  • Prescribed performance
  • Super-twisting sliding mode
  • UAV attitude

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Zhang, C., Wang, J., Fan, S., & Chen, Y. (Accepted/In press). UAV guaranteed performance anti-saturation fast super-twisting sliding mode attitude tracking control. Nonlinear Dynamics, Article 109192. https://doi.org/10.1007/s11071-024-10845-y