Optimal Model-Free Finite-Time Control Based on Terminal Sliding Mode for a Coaxial Rotor
Hossam Glida,
Chouki Sentouh,
Jagat Rath
Abstract:This study focuses on addressing the tracking control problem for a coaxial unmanned aerial vehicle (UAV) without any prior knowledge of its dynamic model. To overcome the limitations of model-based control, a model-free approach based on terminal sliding mode control is proposed for achieving precise position and rotation tracking. The terminal sliding mode technique is utilized to approximate the unknown nonlinear model of the system, while the global stability with finite-time convergence of the overall sys… Show more
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