Sliding Mode Robust Control for Uncertain Quadrotor Aircraft System

YU Tao; MIAO Zhixin

doi:10.15892/j.cnki.djzdxb.2025.01.005

Journal of Projectiles, Rockets, Missiles and Guidance >

2025 , Vol. 45 >Issue 1: 34 - 44

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2025.01.005

Sliding Mode Robust Control for Uncertain Quadrotor Aircraft System

YU Tao ,
MIAO Zhixin

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College of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001,Liaoning,China

Received date: 2024-07-08

Online published: 2025-03-12

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Abstract

A sliding mode robust control strategy based on an adaptive first-order sliding mode disturbance estimator and a two-phase combined function reaching law is proposed for the control problem of uncertain quadrotor aircraft system. The quadrotor aircraft system is divided into two fully-actuated subsystems and two under-actuated subsystems, and the sliding surface of each subsystem is constructed by adopting proper sliding surface design method. A continuous adaptive first-order sliding mode disturbance estimator is adopted to online approximate the uncertainties of each subsystem, and a two-phase combined function reaching law that can dynamically adapt to the variation of the sliding surface is used to sequentially design the control amount of the fully-actuated subsystems and the under-actuated subsystems. The stability of the closed-loop control system and the convergence time of the sliding surface of the control system are theoretically analyzed. The simulation test results verify the robust control performance and controller chattering reduction ability of the proposed sliding mode control strategy.

Key words： quadrotor aircraft; robust sliding mode control; two-phase combined function reaching law; adaptive first-order sliding mode disturbance estimator; chattering reduction

Cite this article

YU Tao , MIAO Zhixin . Sliding Mode Robust Control for Uncertain Quadrotor Aircraft System[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2025 , 45(1) : 34 -44 . DOI: 10.15892/j.cnki.djzdxb.2025.01.005

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