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

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

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

摘要

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.

源语言英语
文章编号109192
期刊Nonlinear Dynamics
DOI
出版状态已接受/待刊 - 2025

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引用此

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