Simulation results demonstrate improved trajectory tracking control for unmanned aerial vehicles, suggesting enhancements in control stability and accuracy.
Key Points
This research aims to improve trajectory tracking for quadrotor UAVs using a new control method.
Developed a trajectory tracking method using global fast terminal sliding mode control (GFTSMC) algorithm.
Established kinematic and dynamic models for quadrotor UAVs considering gyroscopic moments.
Designed GFTSMC controllers for position and attitude loops and proved their stability using the Lyapunov principle.
Conducted simulation tests to compare GFTSMC with traditional PID and sliding mode controls.
GFTSMC shows no overshoot and higher tracking accuracy over PID control.
GFTSMC reduces steady-state convergence time by up to 36.5% compared to traditional methods.
GFTSMC decreases steady-state disturbance error by 97.3% compared to conventional sliding mode control.