Barrier Function-Based Adaptive Super-Twisting Integral Terminal Sliding Mode Control for a Quad-Rotor UAV
Xinxin Chen
Abstract:In this paper, a novel barrier function-based super-twisting integral terminal sliding mode control algorithm is proposed for a quad-rotor unmanned aerial vehicle (UAV). The approach of employing an integral terminal sliding mode control strategy is adopted to achieve an equivalent control, while the switching control law is designed using the super-twisting algorithm. The barrier function is introduced as the gain of switching control law. The integral terminal sliding mode approach guarantees that the system… Show more
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