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High‐order mismatched disturbance rejection control for small‐scale unmanned helicopter via continuous nonsingular terminal sliding‐mode approach
Author(s) -
Fang Xing,
Liu Fei
Publication year - 2018
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4411
Subject(s) - control theory (sociology) , convergence (economics) , invertible matrix , sliding mode control , terminal sliding mode , nonlinear system , disturbance (geology) , mode (computer interface) , lyapunov function , lyapunov stability , computer science , stability (learning theory) , terminal (telecommunication) , stability theory , mathematics , control (management) , physics , artificial intelligence , paleontology , telecommunications , quantum mechanics , pure mathematics , economics , biology , economic growth , operating system , machine learning
Summary In this paper, the problem of finite‐time control for small‐scale unmanned helicopter system with high‐order mismatched disturbance is investigated via continuous nonsingular terminal sliding‐mode control approach. The key idea is to design a novel nonlinear dynamic sliding‐mode surface based on finite‐time disturbance observer. Then, the finite‐time convergence and chattering attenuation capability is guaranteed by the continuous nonsingular terminal sliding‐mode control law. Additionally, rigorous finite‐time stability analysis for the closed‐loop helicopter system is given by means of the Lyapunov theory. Finally, some simulation results demonstrate the effectiveness and predominant properties of the proposed control method for the small‐scale unmanned helicopter even in the presence of high‐order mismatched disturbance.