Adaptive prescribed performance based on recursive nonsingular terminal sliding mode control for quad-rotor systems under uncertainty and disturbance: real-time validation

TY - JOUR

T1 - Adaptive prescribed performance based on recursive nonsingular terminal sliding mode control for quad-rotor systems under uncertainty and disturbance: real-time validation

AU - Han, Gao

AU - Mofid, Omid

AU - Mobayen, Saleh

AU - Khooban, Mohammad Hassan

PY - 2024/4

Y1 - 2024/4

N2 - In this paper, at the aim of the fast trajectory-following control of the Unmanned Aerial Vehicle (UAV) systems subject to uncertainty and disturbance, the adaptive prescribed performance control based recursive nonsingular terminal sliding mode control is suggested. Afterward, for the fast trajectory-following control of the uncertain and perturbed quad-rotor system, a recursive nonsingular terminal sliding mode strategy is recommended. Since the better transient and steady-state response of the sliding mode surface is of the utmost importance in the design of the controller, the prescribed performance control scheme is proposed in which the transformed prescribed form of the previously proposed recursive nonsingular terminal sliding surface is obtained to prove that the recursive nonsingular terminal sliding surface can converge to a preset region. Whereas unknown bounded uncertainty and disturbance always exist in the UAV system's dynamical model which decreases its performance and efficiency, the adaptive mechanism is applied to approximate uncertain bounds of uncertainty and disturbance to advance the implementation of the UAV system. Later, quick reachability of the prescribed form switching surface is demonstrated using Lyapunov concept. Ultimately, simulation results using MATLAB/Simulink over a quad-rotor system and real-time simulation using the Speedgoat Real-Time Target Machine platform are conducted to validate the feasibility and performance of the proposed method.

AB - In this paper, at the aim of the fast trajectory-following control of the Unmanned Aerial Vehicle (UAV) systems subject to uncertainty and disturbance, the adaptive prescribed performance control based recursive nonsingular terminal sliding mode control is suggested. Afterward, for the fast trajectory-following control of the uncertain and perturbed quad-rotor system, a recursive nonsingular terminal sliding mode strategy is recommended. Since the better transient and steady-state response of the sliding mode surface is of the utmost importance in the design of the controller, the prescribed performance control scheme is proposed in which the transformed prescribed form of the previously proposed recursive nonsingular terminal sliding surface is obtained to prove that the recursive nonsingular terminal sliding surface can converge to a preset region. Whereas unknown bounded uncertainty and disturbance always exist in the UAV system's dynamical model which decreases its performance and efficiency, the adaptive mechanism is applied to approximate uncertain bounds of uncertainty and disturbance to advance the implementation of the UAV system. Later, quick reachability of the prescribed form switching surface is demonstrated using Lyapunov concept. Ultimately, simulation results using MATLAB/Simulink over a quad-rotor system and real-time simulation using the Speedgoat Real-Time Target Machine platform are conducted to validate the feasibility and performance of the proposed method.

KW - Adaptive control procedure

KW - Nonsingular terminal sliding mode

KW - Quad-rotor UAV

KW - Recursive sliding mode, prescribed performance control scheme

UR - http://www.scopus.com/inward/record.url?scp=85187217968&partnerID=8YFLogxK

U2 - 10.1016/j.ast.2024.109028

DO - 10.1016/j.ast.2024.109028

M3 - Journal article

SN - 1270-9638

VL - 147

JO - Aerospace Science and Technology

JF - Aerospace Science and Technology

M1 - 109028

ER -