Design of Sliding Mode Controller for Tilting Quadrotor UAV Based on Predetermined Performance

Abstract

Aiming at the influence of modeling error and uncertain interference such as external sidewind in the control system of tilting quadrotor UAV, a non-singular fast terminal sliding mode controller based on predetermined performance is designed for its vertical take-off and landing mode. Firstly, based on the classical mechanics theory, the nonlinear dynamics model of tilt-rotor UAV in vertical take-off and landing mode was established. Then, on the basis of the non-singular fast terminal sliding mode controller, the predetermined performance function was introduced to make the system error within the specified performance range, and the final bounded convergence of the tracking error in the closed-loop system was proved based on the Lyapunov stability theory. Finally, the simulation experiment was carried out in MATLAB/Simulink. The simulation results show that the designed method can still achieve the stable tracking of the predetermined trajectory under the circumstance of uncertain external interference, and it has good control performance and anti-interference ability.