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Non-overshooting sliding mode for UAV control

Published online by Cambridge University Press:  12 September 2024

X. Wang Open the ORCID record for X. Wang [Opens in a new window]  and
X. Mao
X. Wang*
Affiliation:
Aerospace Engineering, University of Nottingham, Nottingham, United Kingdom
X. Mao
Affiliation:
Advanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing, China
*
Corresponding author: X. Wang; Email: [email protected]
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Abstract

For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference trajectory is required, the strict non-overshooting stabilisation is still achieved. The control law design is based on a desired second-order sliding mode (2-sliding mode), which successively includes two bounded-gain subsystems. Non-overshooting stability requires that the system gains depend on the initial values of system variables. In order to obtain the global non-overshooting stability, the first subsystem with non-overshooting reachability compresses the initial values of the second subsystem to a given bounded range. By partitioning these initial values, the bounded system gains are determined to satisfy the robust non-overshooting stability. In order to reject the chattering in the controller output, a tanh-function-based sliding mode is developed for the design of smoothed non-overshooting controller. The proposed method is applied to a UAV trajectory tracking when the disturbances and uncertainties exist. The control laws are designed to implement the non-overshooting stabilisation in position and attitude. Finally, the effectiveness of the proposed method is demonstrated by the flying tests.

Keywords

non-overshooting sliding modeglobal non-overshooting stabilitynon-overshooting reachabilitysmoothed non-overshooting controllerUAV trajectory tracking
Type
Research Article
Information
The Aeronautical Journal , First View , pp. 1 - 47
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Copyright
© The Author(s), 2024. Published by Cambridge University Press on behalf of Royal Aeronautical Society

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