Adaptive Neural-Network-Based Nonsingular Fast Terminal Sliding Mode Control for a Quadrotor with Dynamic Uncertainty

Abstract

This paper proposes an adaptive neural-network-based nonsingular fast terminal sliding mode (NN-NFTSMC) approach to address the trajectory tracking control problem of a quadrotor in the presence of model uncertainties and external disturbances. First, the dynamic model of the quadrotor with uncertainty is derived. Then, a control scheme using nonsingular fast terminal sliding mode control (NFTSMC) is proposed to guarantee the finite-time convergence of the quadrotor to its desired trajectory. NFTSMC is firstly formulated for the case that the upper bound of the lumped uncertainty is known in advance. Under this framework, a disturbance observer by using the hyperbolic tangent nonlinear tracking differentiator (TANH-NTD) is designed to estimate the external interference, and a neural network (NN) approximator is used to develop an online estimate of the model uncertainty. Subsequently, adaptive algorithms are designed to compensate the approximation error and update the NN weight matrix. An NN-NFTSMC algorithm is formulated to provide the system with robustness to the model uncertainty and external disturbance. Moreover, Lyapunov-based approach is employed to prove the global stability of the closed-loop system and the finite-time convergence of the trajectory tracking errors. The results of a comparative simulation study with other recent methods illustrate the proposed control method reduces the chattering effectively and has remarkable performance.

Keywords

• neural network
• nonsingular fast terminal sliding mode
• trajectory tracking
• uncertainties and disturbances